Title :
Symbolic modeling of flexible manipulators
Author :
Cetinkunt, Sabri ; Book, Wayne J.
Author_Institution :
Georgia Institute of Technology, Atlanta, Georgia
Abstract :
This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange´s-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm via a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.
Keywords :
Actuators; Control systems; Couplings; Electrical equipment industry; Equations; Lagrangian functions; Manipulator dynamics; Nonlinear control systems; Productivity; Servomechanisms;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1087748
