Application of Symbolic Manipulation to Inverse Dynamics and Kinematics of Elastic Robots
نویسندگان
چکیده
An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method. A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form. A case study is given to illustrate how to use this program for inverse dynamic and kinematic generation. Simulation results for a case study by considering different mode shape are compared with the rigid case.
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