DocumentCode
2735654
Title
Dynamic characterisation of a flexible manipulator system: theory and experiments
Author
Tokhi, M.O. ; Mohamed, Z. ; Amin, Shamsudin H M ; Mamat, R.
Author_Institution
Dept. of Autom. Control & Syst. Eng., Sheffield Univ., UK
Volume
3
fYear
2000
fDate
2000
Firstpage
167
Abstract
Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods incorporating structural damping. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig in the time and frequency domains
Keywords
damping; finite element analysis; flexible manipulators; manipulator dynamics; constrained planar single-link flexible manipulator; dynamic characterisation; dynamic modelling; flexible manipulator system; structural damping; Actuators; Damping; Finite element methods; Frequency domain analysis; Manipulator dynamics; Mathematical model; Power system modeling; Robots; System testing; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
TENCON 2000. Proceedings
Conference_Location
Kuala Lumpur
Print_ISBN
0-7803-6355-8
Type
conf
DOI
10.1109/TENCON.2000.892244
Filename
892244
Link To Document