DocumentCode
2535511
Title
Dynamic modelling of flexible robot manipulators
Author
Nicosia, S. ; Tomei, P. ; Tornambe, A.
Author_Institution
Second University of Rome
Volume
3
fYear
1986
fDate
31503
Firstpage
365
Lastpage
372
Abstract
The problem of modeling flexible robots is considered. The dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bended beams constituting the robot. General properties of the models, as controllability, are then investigated. To manipulate the cumbersome formulae the SAM language MACSYMA has been extensively used.
Keywords
Control nonlinearities; Control systems; Electrical equipment industry; Manipulator dynamics; Mechanical systems; Motion control; Orbital robotics; Service robots; Stability; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087630
Filename
1087630
Link To Document