منابع مشابه
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...
متن کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملStable Inversion Control for Flexible Link Manipulators
We consider the inverse dynamics problem for robot arms with, flezible lids, i.e., the computation of the input torque that allows exact tracking of a trajec tor~y definedfor the manipulator end-e flector. A stable inversion controller is derived numerically, based on the computation of bounded link deformations and, from these, of the? equiredfe edforwardtorque associated with, the desired tip...
متن کاملDynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach
This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...
متن کاملMaximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach
In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...
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ژورنال
عنوان ژورنال: PAMM
سال: 2004
ISSN: 1617-7061,1617-7061
DOI: 10.1002/pamm.200410063