• DocumentCode
    849340
  • Title

    Dynamics of nonrigid articulated robot linkages

  • Author

    Judd, Robert P. ; Falkenburg, Donald R.

  • Author_Institution
    Oakland University, Rochester, MI, USA
  • Volume
    30
  • Issue
    5
  • fYear
    1985
  • fDate
    5/1/1985 12:00:00 AM
  • Firstpage
    499
  • Lastpage
    502
  • Abstract
    This paper presents the kinematic and dynamic analysis of an n -link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.
  • Keywords
    Flexible structures; Manipulator dynamics; Automatic control; Control systems; Couplings; Kinematics; Linear systems; Manipulator dynamics; Performance analysis; Robotics and automation; Robots; Transient response;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1985.1103978
  • Filename
    1103978
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=849340