Title :
Mathematical modeling for kinematics and dynamics of certain single flexible-link robot arms
Author :
Qi, Xiangyang ; Chen, Guanrong
Author_Institution :
Dept. of Electr. Eng., Houston Univ., TX, USA
Abstract :
A mathematical modeling problem for certain single flexible-link robot arms is investigated. The mathematical model proposed is based on Timoshenko´s theory, with suitable initial-terminal and boundary conditions. Formulas for the kinematics (the hub angle, tip position, and deflection) and dynamics (the control torque input of the link) of the robot arm model are derived. Computer simulation results are shown and compared to some existing experimental results, confirming that the modeling of the kinematics and dynamics of the robot arm is both correct and accurate
Keywords :
digital simulation; distributed parameter systems; dynamics; kinematics; robots; Timoshenko´s theory; boundary conditions; control torque input; deflection; dynamics; hub angle; initial-terminal conditions; kinematics; single flexible-link robot arms; tip position; Boundary conditions; Computational modeling; Computer simulation; Gravity; Kinematics; Manipulators; Mathematical model; Robot sensing systems; Shafts; Torque control;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269861
