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
โฆ LIBER โฆ
Numerical simulation of spatial mechanisms and manipulators with flexible links
โ Scribed by J.F. Besseling; D.G. Gong
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 399 KB
- Volume
- 18
- Category
- Article
- ISSN
- 0168-874X
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Symbolic and numerical techniques are used to model and analyze the dynamic behavior of a slider-crank mechanism with a flexible coupler and drive train. The equations of motion are generated using a symbolic algorithmic procedure based on the principle of virtual work. The flexibility of the drive