Title :
Modelling and experimental validation of two-dimensional transverse vibrations in a flexible robot link
Author :
Baungaard, Jens Rane ; Sorensen, Paul Haase
Author_Institution :
Inst. of Autom., Tech. Univ., Lyngby, Denmark
Abstract :
A general model for a rotating homogenous flexible robot link is developed. The model describes two-dimensional transverse vibrations induced by the actuator due to misalignment of the actuator axis of rotation relative to the link symmetry axis and due to translational acceleration of the link. The model is validated experimentally
Keywords :
flexible structures; partial differential equations; robot dynamics; actuator axis of rotation; link symmetry axis; rotating homogenous flexible robot link; translational acceleration; two-dimensional transverse vibrations; Acceleration; Actuators; Manipulators; Mathematical model; Payloads; Robotics and automation; Robots; Shafts; Vibrations; Wrist;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.559017
