DocumentCode
3483067
Title
Modelling of a 5-bar-linkage manipulator with one flexible link
Author
Wang, David ; Vidyasagar, M.
Author_Institution
Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
fYear
1988
fDate
24-29 Apr 1988
Firstpage
21
Abstract
A model of a five-bar-linkage root is examined where the top link is flexible. The modeling process is described and applied to the simpler problem of a single link beam. The model of the five-bar-linkage robot with the top link flexible is derived and then simplified using various assumptions which are discussed. It is shown that under these assumptions, it may be possible to control two joints using a typical rigid-body controller while using the third joint to control the vibrations. This greatly simplifies the control problem
Keywords
control system analysis; robots; vibration control; five-bar-linkage root; flexible link; joints; manipulator; model; rigid-body controller; vibration control; Boundary conditions; Equations; Gravity; Lighting control; Manipulator dynamics; Potential energy; Robot control; Robot kinematics; Tensile stress; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12018
Filename
12018
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