Title :
Practical models for practical flexible arms
Author :
Book, Wayne ; Obergfell, Klaus
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
A laboratory robot with 3 m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response results for joint motion, link deflection and tip deflection. We conclude that with care the models of an arm can be effective in controller design in spite of hydraulic actuators and non-ideal kinematics and structure
Keywords :
actuators; flexible manipulators; frequency response; linearisation techniques; manipulator kinematics; analytical model; controller design; flexible robot arms; frequency response; hydraulic actuators; joint motion; kinematics; linearisation; link deflection; tip deflection; Actuators; Aluminum; Analytical models; Arm; Books; Feedback; Manipulator dynamics; Mechanical engineering; Position measurement; Robots;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844154
