DocumentCode
3514935
Title
Lumped parameter dynamic modeling for the flexible manipulator
Author
Xilun, Ding ; Selig, J.M.
Author_Institution
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Volume
1
fYear
2004
fDate
15-19 June 2004
Firstpage
280
Abstract
Holzer method is a very efficient lumped parameter dynamic modeling method for flexible manipulators. However, it does have some faults. An improved efficiency dynamic modeling method based on the Holzer method is proposed: This new method is called Ding-Holzer method, it is applied to the dynamic modeling of planar single arm, multiple link manipulators and the arm with spatial compliance, respectively. A sequence comparative study and theoretical analysis convince the improved method.
Keywords
flexible manipulators; manipulator dynamics; modelling; Ding-Holzer method; flexible manipulator modeling; lumped parameter dynamic modeling; multiple link manipulators; planar single arm modeling; Aerodynamics; Distributed parameter systems; Finite element methods; Joining processes; Length measurement; Manipulator dynamics; Metalworking machines; Modeling; Moment methods; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN
0-7803-8273-0
Type
conf
DOI
10.1109/WCICA.2004.1340574
Filename
1340574
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