DocumentCode
2236008
Title
Kinematic analysis of a single link flexible manipulator
Author
Ata, Atef A. ; Haraz, Eman H. ; Rizk, Abd Elfattah A ; Hanna, Sarwat N.
Author_Institution
Dept. of Eng. Math. & Phys., Alexandria Univ., Alexandria, Egypt
fYear
2012
fDate
19-21 March 2012
Firstpage
852
Lastpage
857
Abstract
The present work investigates the dynamic analysis of a single link flexible manipulator with a tip mass using Tangential Coordinate System (TCS) and the Virtual Link Coordinate System (VLCS). The equations of motion are derived using the extended Hamilton´s Principle. A third order polynomial trajectory is designed in the joint space. Numerical analysis is carried out for both types of coordinate systems and the total deflection is compared for both types of the coordinate.
Keywords
flexible manipulators; manipulator kinematics; motion control; polynomials; coordinate system; extended Hamilton principle; manipulator kinematic analysis; motion equation; numerical analysis; single link flexible manipulator; tangential coordinate system; third order polynomial trajectory; tip mass; total deflection; virtual link coordinate system; Equations; Length measurement; Manipulators; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology (ICIT), 2012 IEEE International Conference on
Conference_Location
Athens
Print_ISBN
978-1-4673-0340-8
Type
conf
DOI
10.1109/ICIT.2012.6210045
Filename
6210045
Link To Document