Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms
نویسندگان
چکیده
منابع مشابه
Modeling and Control of Single-Link Flexible Arms with Lumped Masses
This paper deals with the modeling and control of a special class of single-link flexible arms. These arms consist of flexible massless structures having some masses concentrated at certain points of the beam. In this paper, the dynamic model of such flexible arms is dewloped and some of the control properties are deduced. A robust control scheme to remove the effects of friction in the joins i...
متن کاملModeling of flexible-link manipulators with prismatic joints
The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...
متن کاملSliding-mode control of multi-link flexible manipulators
• A submitted manuscript is the author's version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version ...
متن کاملSymbolic modeling of flexible manipulators
This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is aaplied to model a two-link fleXIble arm via a commercially available symbolic manipulation p...
متن کاملDynamics 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 کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Robotics
سال: 2018
ISSN: 2218-6581
DOI: 10.3390/robotics7040060