Title :
Analysis of multi-link flexible manipulators via asymptotic expansions
Author :
Khorrami, Farshad
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Polytech. Univ., Brooklyn, NY, USA
Abstract :
Asymptotic perturbation methods are employed to extend the results for the complicated case of multilink flexible manipulators. As shown in the one-link case, the dynamics of multilink flexible manipulators also reduce to their rigid body dynamics as a small parameter embedded in the model vanishes. Furthermore, the flexural effect and its coupling to the rigid body dynamics are investigated by appealing to the higher-order terms in the expansion. A two-link flexible manipulator is considered
Keywords :
control system analysis; dynamics; perturbation techniques; robots; asymptotic expansions; dynamics; multilink flexible manipulators; perturbation; robots; Computer science; Energy consumption; Energy resolution; Equations; Feeds; Lighting control; Manipulator dynamics; Payloads; Perturbation methods; Robots;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70535
