✦ LIBER ✦

Finite element approach to dynamic modelling of a flexible robot manipulator: performance evaluation and computational requirements

✍ Scribed by Tokhi, M. O. ;Mohamed, Z.

Publisher: John Wiley and Sons
Year: 1999
Tongue: English
Weight: 130 KB
Volume: 15
Category: Article
ISSN: 1069-8299
DOI: 10.1002/(sici)1099-0887(199909)15:9<669::aid-cnm281>3.0.co;2-w

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✦ Synopsis

This paper presents a performance evaluation and the computational requirements of using the ®nite element (FE) method for modelling ¯exible robot manipulators. A constrained planar single-link ¯exible manipulator is considered. Finite-dimensional simulation of the manipulator is developed using the FE method and is implemented on two computing domains. The simulation performance, on the basis of accuracy in characterizing the behaviour of the manipulator and computational eciency, are assessed.