DocumentCode :
921118
Title :
Modeling a class of multilink manipulators with the last link flexible
Author :
Wang, David ; Vidyasagar, Mathukumalli
Author_Institution :
Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
Volume :
8
Issue :
1
fYear :
1992
fDate :
2/1/1992 12:00:00 AM
Firstpage :
33
Lastpage :
41
Abstract :
Dynamic equations are derived for a class of multilink manipulators with the last link flexible. The manipulators have three degrees of freedom and are moved by three actuators. This class includes the elbow manipulator and the five-bar-linkage manipulator. Some reasonable assumptions that simplify the dynamic equations for control purposes are described, and the simplified dynamic equations are then presented. It is shown that, for pick-and-place operations, a rigid-body robot controller and a single flexible link controller may be combined to control the manipulator in a straightforward manner
Keywords :
distributed parameter systems; dynamics; large-scale systems; robots; dynamic equations; elbow manipulator; five-bar-linkage manipulator; flexible manipulator link; multilink manipulators; pick-and-place operations; rigid-body robot controller; Actuators; Artificial intelligence; Assembly; Differential equations; Elbow; Helium; Manipulator dynamics; Manufacturing; Partial differential equations; Robot control;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.127237
Filename :
127237
Link To Document :
بازگشت