On the Properties of a Dynamic Model of Flexible Robot ManipulatorsSource: Journal of Dynamic Systems, Measurement, and Control:;1998:;volume( 120 ):;issue: 001::page 8Author:Marco A. Arteaga
DOI: 10.1115/1.2801326Publisher: The American Society of Mechanical Engineers (ASME)
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.
keyword(s): Manipulators , Dynamic models , Design , Modeling , Flexible manipulators , Equations of motion , Mechanical properties AND Robot dynamics ,
|
Show full item record
| contributor author | Marco A. Arteaga | |
| date accessioned | 2017-05-08T23:56:10Z | |
| date available | 2017-05-08T23:56:10Z | |
| date copyright | March, 1998 | |
| date issued | 1998 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26245#8_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/120207 | |
| description 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 | The American Society of Mechanical Engineers (ASME) | |
| title | On the Properties of a Dynamic Model of Flexible Robot Manipulators | |
| type | Journal Paper | |
| journal volume | 120 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2801326 | |
| journal fristpage | 8 | |
| journal lastpage | 14 | |
| identifier eissn | 1528-9028 | |
| keywords | Manipulators | |
| keywords | Dynamic models | |
| keywords | Design | |
| keywords | Modeling | |
| keywords | Flexible manipulators | |
| keywords | Equations of motion | |
| keywords | Mechanical properties AND Robot dynamics | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1998:;volume( 120 ):;issue: 001 | |
| contenttype | Fulltext |