Title :
Dynamics of Nonrigid Articulated Robot Linkages
Author :
Judd, Robert P. ; Falkenburg, Donald R.
Author_Institution :
Assistant Professor, Center for Robotics and Advanced Automation, School of Engineering, Oakland University, Rochester, Michigan 48063
Abstract :
This paper presents the kinematic and dynamic analysis of an n-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using an Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.
Keywords :
Acceleration; Couplings; Deformable models; Differential equations; End effectors; Ink; Manipulator dynamics; Open loop systems; Robot kinematics; Robotics and automation;
Conference_Titel :
American Control Conference, 1983
Conference_Location :
San Francisco, CA, USA
