Kinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screws

Dynamics of Flexible Manipulators

This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...

Automatic formulation of falling multiple flexible-link robotic manipulators using 3×3 rotational matrices

In this paper, the effect of normal impact on the mathematical modeling of flexible multiple links is investigated. The response of such a system can be fully determined by two distinct solution procedures. Highly nonlinear differential equations are exploited to model the falling phase of the system prior to normal impact; and algebraic equations are used to model the normal collision of this ...

Inverse Kinematics of Arbitrary Robotic Manipulators Using Genetic Algorithms

In this paper we present a uniied approach for solving the inverse kinematics problem of an arbitrary robotic manipulator based on Genetic Algorithms. The tness function we use in our algorithm does a multi-objective optimization satisfying both the position and orientation of the end-eeector. As an example we show how this approach can be used for computing the motion of an n-R robotic manipul...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Inverse Dynamics of Flexible Manipulators

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...