• DocumentCode
    861851
  • Title

    A linear dynamic model for flexible robotic manipulators

  • Author

    Hastings, Gordon G. ; Book, Wayne J.

  • Author_Institution
    Clemson University, Clemson, SC, USA
  • Volume
    7
  • Issue
    1
  • fYear
    1987
  • fDate
    2/1/1987 12:00:00 AM
  • Firstpage
    61
  • Lastpage
    64
  • Abstract
    The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid-body motions, as well as the flexural vibrations. This paper describes a linear state-space model for a single-link flexible manipulator and compares simulation of the model to measurements made on a 4-ft-long direct-drive arm.
  • Keywords
    Robots; Books; Couplings; Equations; Extraterrestrial measurements; Lighting control; Manipulator dynamics; Mechanical engineering; Motion control; Orbital robotics; Robots;
  • fLanguage
    English
  • Journal_Title
    Control Systems Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    0272-1708
  • Type

    jour

  • DOI
    10.1109/MCS.1987.1105233
  • Filename
    1105233
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=861851