On the Properties of a Dynamic Model of Flexible Robot Manipulators-Reference-Cited by-同舟云学术

On the Properties of a Dynamic Model of Flexible Robot Manipulators

Published:1998-03-01 Issue:1 Volume:120 Page:8-14
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Arteaga Marco A.¹

Affiliation:

1. Universita¨t Duisburg, Germany

Abstract

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/120/1/8/5779245/8_1.pdf

Reference17 articles.

1. Arteaga Pe´rez, M. A. (1996), “A nonlinear observer for flexible robot arms.” Proc. of 4th IEEE Mediterranean Symposium on New Directions in Control and Automation. Maleme, Krete. Greece, pp. 144–149.

2. Arteaga Pe´rez, M. A. and B. Siciliano (1998), “Flexible-Link manipulators: Modeling, nonlinear control and observer.” Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control and Applications, F. -Y. Wang, (ed.). World Scientific, Singapore.

3. Book W. J. (1979), “Analysis of massless elastic chains with servo controlled joints,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 101, pp. 187–192.

4. Book W. J. (1984), “Recursive Lagrangian dynamics of flexible manipulator arms.” International Journal of Robotics Research, Vol. 3(3), pp. 87–101.

5. Canudas de Wit, C., B. Siciliano and G. Bastin (Eds.), (1996), Theory of Robot Control. Springer-Verlag. London.

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