A Symbolic Formulation of Dynamic Equations For a Manipulator With Rigid and Flexible Links
β Scribed by Lin, J.; Lewis, F.L.
- Book ID
- 121373832
- Publisher
- SAGE Publications
- Year
- 1994
- Tongue
- English
- Weight
- 896 KB
- Volume
- 13
- Category
- Article
- ISSN
- 0278-3649
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π SIMILAR VOLUMES
The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler-Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case stu
Control of a two-link rigid}#exible manipulator carrying a moving payload mass is considered. The stability of the system when the payload mass is moving along the #exible link during the time of maneuver is investigated. A candidate Lyapunov function is constructed and its time rate of change is ex