(Georgia Institute of Technology, 1988-05)
Cetinkunt, Sabri; Book, Wayne J.
The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant
links and joints are developed based on Lagrangian-assumed modes formulation. This form
of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic
applications. The final form of the equations are organized in a form similar to rigid manipulator
equations. This allows one to identify the differences between rigid and flexible manipulator
dynamics explicitly. Therefore, current knowledge on control of rigid manipulators is likely to be utilized in a maximum way in developing new control algorithms for flexible manipulators.
Computer automated symbolic expansion of the dynamic model equations for any desired manipulator
is accomplished with programs written based on commercial symbolic manipulation programs
(SMP, MACSYMA, REDUCE). A two-link manipulator is used as an example. Computational
complexity involved in real-time control, using the explicit, non-recusive form of equations, is
studied on a single CPU and multi- CPU parallel computation processors.
(Georgia Institute of Technology, 1986-10)
Cetinkunt, Sabri; Siciliano, Bruno; Book, Wayne J.
This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and implemented via a commercially available symbolic manipulation program. Adaptation of the method suitable for symbolic manipulation and advantages are discussed. Simulation results for a two-link planar flexible arm presented.