A linear dynamic model for flexible robotic manipulators

1 February 1987

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems Magazine

Vol. 7 (1) , 61-64
https://doi.org/10.1109/MCS.1987.1105233

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

MANIPULATOR DYNAMICS
ROBOTS
EQUATIONS
BOOKS
ORBITAL ROBOTICS
MECHANICAL ENGINEERING
COUPLINGS
MOTION CONTROL
LIGHTING CONTROL
EXTRATERRESTRIAL MEASUREMENTS