Title :
Modelling of a 5-bar-linkage manipulator with one flexible link
Author :
Wang, David ; Vidyasagar, M.
Author_Institution :
Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
Abstract :
A model of a five-bar-linkage root is examined where the top link is flexible. The modeling process is described and applied to the simpler problem of a single link beam. The model of the five-bar-linkage robot with the top link flexible is derived and then simplified using various assumptions which are discussed. It is shown that under these assumptions, it may be possible to control two joints using a typical rigid-body controller while using the third joint to control the vibrations. This greatly simplifies the control problem
Keywords :
control system analysis; robots; vibration control; five-bar-linkage root; flexible link; joints; manipulator; model; rigid-body controller; vibration control; Boundary conditions; Equations; Gravity; Lighting control; Manipulator dynamics; Potential energy; Robot control; Robot kinematics; Tensile stress; Vibration control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12018
