Title :
Modelling and simulation of a flexible manipulator system
Author :
Tokhi, M.O. ; Azad, A.K.M. ; Morris, A.S. ; Hossain, M.A.
Author_Institution :
Sheffield Univ., UK
Abstract :
An investigation into the development of a suitable model and simulation environment of a flexible manipulator system is presented. The model is developed using Lagrange equation and modal expansion. A reduced-order model including the first few dominant modes of vibration has been developed. The model has been further simplified by neglecting the torsion and vertical motion of the manipulator.
Keywords :
manipulators; matrix algebra; state-space methods; vibration control; Lagrange equation; flexible manipulator system; modal expansion; modelling; reduced order model; robots; simulation; state space model; vibration control;
Conference_Titel :
Control, 1994. Control '94. International Conference on
Conference_Location :
Coventry, UK
Print_ISBN :
0-85296-610-5
DOI :
10.1049/cp:19940342
