Abstract: The problem of open-loop control of the end-point trajectory of a single-link flexible arm by an inverse dynamic solution is addressed in this paper. A finite element discretization of the ...

Abstract: A scheme for the design of rest-to-rest acceleration profiles to be used in the inverse dynamics approach to the control of the end-point of single link flexible arms is described. The scheme ...

Abstract: The inverse dynamics problem for a single link flexible arm is considered. The tracking order of consistent and lumped finite element models is derived and compared with the tracking order of ...

Abstract: A series of penalty methods are presented for the dynamic analysis of flexible mechanisms. The proposed methods formulate the equations of motion with respect to a floating frame that follows ...

Abstract: This paper presents a systematic procedure for the structural design of a robot force sensor. The structural design is important since the force sensor detects forces and moments through the ...

Abstract: In this paper we describe a new tracking control law for multijoint flexible-link manipulators. The scheme is a synthesis of the inverse dynamics solution for flexible manipulators developed by ...

Abstract: The “form finding” methods for tension structures may be classified into two different groups: the linear and nonlinear methods. One of the linear methods is the force density method (FDM). In this paper advantage is taken ...

Abstract: In this paper we present an extension to flexible multibody systems of a system of fully cartesian coordinates previously used in rigid multibody dynamics. This method is fully compatible with ...