Title :
Discrete-time modeling of flexible robots
Author :
Nicosia, S. ; Tomei, P. ; TornambÈ, A.
Author_Institution :
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
Abstract :
A procedure to derive discrete-time dynamic models of robots having flexible links is presented. Approximate models of one- and two-link robotic manipulators, generated by means of the symbolic algebraic manipulation language MACSYMA, are reported. The approach is based on previous works of the authors concerning the derivation of continuous-time models of elastic robots and discrete-time models of rigid robots
Keywords :
algebra; control system analysis computing; discrete time systems; robots; symbol manipulation; MACSYMA; discrete-time dynamic models; elastic robots; flexible robots; manipulators; symbolic algebraic manipulation language; two link robots; Continuous time systems; Equations; Finite element methods; Gravity; Kinetic energy; Lagrangian functions; Manipulator dynamics; Microcomputers; Orbital robotics; Robot kinematics;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203655
