Title :
A general dynamic model of flexible robot arms for control
Author :
Ding, X. ; Tarn, T.J. ; Bejczy, A.K.
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
Hamilton´s principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system
Keywords :
dynamics; integral equations; multidimensional systems; nonlinear systems; partial differential equations; robots; Hamilton´s principle; dynamic boundary conditions; finite-dimensional system; flexible robot arms; general dynamic model; infinite-dimensional nonlinear dynamic system; partial differential-integral equations; Differential equations; Elasticity; Integral equations; Manipulators; Mathematical model; Mathematics; Propulsion; Robot control; Robot kinematics; Robot motion;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100217
