Influence of mode truncation and elongation deformation to a flexible manipulator

Author

Liu, Yan ; Meng, Max ; Wang, Dalong

Author_Institution

Adv. Robotics & Teleoperation Lab., Alberta Univ., Edmonton, Alta., Canada

Volume

3

fYear

1999

fDate

9-12 May 1999

Firstpage

1398

Abstract

Influences of the mode truncation and the longitudinal elongation on the dynamic response of a single link flexible robotic manipulator are studied. Firstly, the relationship between the mode truncation and the inertia matrix of the flexible manipulator dynamic equation is derived. The condition number of the inertia matrix is computed with respect to the number of mode shapes. The inertia matrix is becoming ill posed with the increasing of the mode number. Secondly, the dynamic model with longitudinal elongation is derived. The influence of the longitudinal elongation on the dynamic response, which is caused by the transversal deformation of the system, is analyzed.

Keywords

deformation; dynamic response; elongation; flexible manipulators; manipulator dynamics; matrix algebra; dynamic response; elongation deformation; inertia matrix; mode shapes; mode truncation; single link flexible robotic manipulator; transversal deformation; Angular velocity; Deformable models; Equations; Frequency; Manipulator dynamics; Orbital robotics; Payloads; Robots; Shape; Subspace constraints;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 1999 IEEE Canadian Conference on

Conference_Location

Edmonton, Alberta, Canada

ISSN

0840-7789

Print_ISBN

0-7803-5579-2

Type

conf

DOI

10.1109/CCECE.1999.804903

Filename

804903