Modeling the Spatial Dynamics of Robotic Manipulators with Flexible Links and Joint Clearances
โ Scribed by Kakizaki, T.; Deck, J. F.; Dubowsky, S.
- Book ID
- 121243313
- Publisher
- The American Society of Mechanical Engineers
- Year
- 1993
- Tongue
- English
- Weight
- 972 KB
- Volume
- 115
- Category
- Article
- ISSN
- 1050-0472
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๐ 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
The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangiau-assumed mode of formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applicat