Explicit dynamic modeling of a planar two-link flexible manipulator
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 528-530 vol.2
- https://doi.org/10.1109/cdc.1990.203652
Abstract
An explicit, complete, and accurate dynamic model for lightweight flexible arms is presented. A planar two-link flexible arm with rotary joints subject only to bending deformations in the plane of motion is considered (torsional effects are neglected). A payload is added at the tip of the outer link, while hub inertias are included at the actuated joints. Links are modeled as Euler-Bernoulli beams of uniform density with clamped-mass boundary conditions. A finite-dimensional model of link flexibility is obtained with two assumed modes for each link. The standard Lagrangian approach is followed, and the resulting dynamic equations are given.Keywords
This publication has 1 reference indexed in Scilit:
- Recursive Lagrangian Dynamics of Flexible Manipulator ArmsThe International Journal of Robotics Research, 1984