Dynamic Modeling of Planar Multi-Link Flexible Manipulators
نویسندگان
چکیده
A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method used with Lagrangian formulation to obtain equations motion. Explicit motion are derived for a three-link case assuming two vibration each link. eigenvalue problem associated mass boundary conditions, which changes robot configuration and payload, discussed. time-domain simulation results frequency-domain analysis presented show validity theoretical derivation.
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ژورنال
عنوان ژورنال: Robotics
سال: 2021
ISSN: ['2218-6581']
DOI: https://doi.org/10.3390/robotics10020070