Dynamic Modelling and Trajectory Tracking of Parallel Manipulator with Flexible Link
نویسندگان
چکیده
منابع مشابه
Dynamic Modelling and Trajectory Tracking of Parallel Manipulator with Flexible Link
This paper mainly focuses on dynamic modelling and real‐time control for a parallel manipulator with flexible link. The Lagrange principle and assumed modes method (AMM) substructure technique is presented to formulate the dynamic modelling of a two‐degrees‐of‐freedom (DOF) parallel manipulator with flexible links. Then, the singular perturbation techniqu...
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End-effector trajectory tracking of flexible multibody systems is often a challenging task. This is due to the fact that flexible multibody systems possess less control inputs than degrees of freedom, i.e. they are underactuated. Thus, classical approaches known from fully actuated systems cannot be applied. The complexity might be further increased, if the multibody system includes additional ...
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It has been demonstrated that the absolute nodal coordinate formulation (ANCF) proposed recently in literature can be used to exactly describe the flexible multibody system unlike traditional methods such as the floating coordinate method and assumed mode method. Therefore, in this paper a new dynamic modeling technique for a two-link flexible manipulator based on absolute nodal coordinate meth...
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In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2013
ISSN: 1729-8814,1729-8814
DOI: 10.5772/56765