DocumentCode
2021351
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
Volume
1
fYear
2000
fDate
2000
Firstpage
835
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844154
Filename
844154
Link To Document