Symbolic modeling of flexible manipulators
- 1 April 1987
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 2074-2080
- https://doi.org/10.1109/robot.1987.1087748
Abstract
This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm via a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.Keywords
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