Modeling a class of multilink manipulators with the last link flexible

Author

Wang, David ; Vidyasagar, Mathukumalli

Author_Institution

Dept. of Electr. Eng., Waterloo Univ., Ont., Canada

Volume

8

Issue

1

fYear

1992

fDate

2/1/1992 12:00:00 AM

Firstpage

33

Lastpage

41

Abstract

Dynamic equations are derived for a class of multilink manipulators with the last link flexible. The manipulators have three degrees of freedom and are moved by three actuators. This class includes the elbow manipulator and the five-bar-linkage manipulator. Some reasonable assumptions that simplify the dynamic equations for control purposes are described, and the simplified dynamic equations are then presented. It is shown that, for pick-and-place operations, a rigid-body robot controller and a single flexible link controller may be combined to control the manipulator in a straightforward manner

Keywords

distributed parameter systems; dynamics; large-scale systems; robots; dynamic equations; elbow manipulator; five-bar-linkage manipulator; flexible manipulator link; multilink manipulators; pick-and-place operations; rigid-body robot controller; Actuators; Artificial intelligence; Assembly; Differential equations; Elbow; Helium; Manipulator dynamics; Manufacturing; Partial differential equations; Robot control;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.127237

Filename

127237