Dynamic modelling of a two link flexible robot and experimental validation

Author

Nicosia, S. ; Valigi, P. ; Zaccarian, L.

Author_Institution

Dipartimento di Inf., Sistemi e Produzione, Rome Univ., Italy

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1953

Abstract

The paper discusses the modelling issues for a two link flexible robot arm. The exact dynamic model of the robot arm is derived, and approximate forms suitable for the analysis and control design are proposed. The approach used here to derive an approximate finite dimensional model of the flexible robot arm is based on the Ritz expansion method. Simulations and experimental tests have been carried out to validate the approximate dynamic model of the robot

Keywords

approximation theory; flexible structures; frequency-domain analysis; manipulator dynamics; modelling; multidimensional systems; nonlinear control systems; Ritz expansion method; approximate finite dimensional model; dynamic modelling; experimental validation; frequency domain analysis; linear approximation; nonlinear model; two link flexible robot arm; Control design; Control systems; Finite element methods; Lagrangian functions; Manipulators; Mechanical systems; Orbital robotics; Robots; Testing; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506158

Filename

506158