DocumentCode
2041855
Title
Modeling of mechanical systems with lumped elasticity
Author
Khalil, W. ; Gautier, M.
Author_Institution
Inst. de Recherche en Cybern. de Nantes, France
Volume
4
fYear
2000
fDate
2000
Firstpage
3964
Abstract
Presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide the kinematic and dynamic models of such systems. To achieve this goal we adapted some well known tools and notations which are widely used for rigid robots. The inverse dynamic model has to be redefined and developed
Keywords
geometry; machine tools; matrix algebra; robot dynamics; robot kinematics; dynamic models; elastic joints; high speed machine tools; kinematic models; lumped elasticity; mechanical systems; Acceleration; Computational geometry; Elasticity; Fasteners; Inverse problems; Kinematics; Machine tools; Mechanical systems; Robots; Solid modeling;
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.2000.845349
Filename
845349
Link To Document