Title:
Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices

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dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-06-24T18:20:09Z
dc.date.available 2011-06-24T18:20:09Z
dc.date.issued 1983-12
dc.description Copyright and all rights therein are retained by authors or by other copyright holders. en_US
dc.description Technical Report CMU-RI-TR-83-23 en_US
dc.description.abstract Improving the performance of most engineering systems requires the ability to model the system’s behavior with improved accuracy. The evolution of the mechanical arm from teleoperator and crane to present day industrial and space robots and large space manipulators is no exception. Initial simple kinematic and dynamic models are no longer adequate to improve performance in the most critical applications. 130th the mechanical system and control system require improved models for design simulation. Proposed new control algorithms require dynamic models for control calculation. Manning and programming activities as well as man-in-the-loop simulation also require accurate models of the arms. Accuracy is usually acquired at some cost. 'The application of mechanical arms to economically sensitive endeavors in industry and space also gives incentive to improve the efficiency of the formulation and simulation of dynamic models. Control algorithms and man-in-the-loop simulation require "real time" calculation of dynamic behavior. Formulation of the dynamics in an easy to understand conceptual approach is also important if maximum use of the results is to be obtained. The nonlinear equations of motion for flexible manipulator arms consisting of rotary joints connecting two flexible links are developed. Kinematics of both the rotary joint motion and the link deformation are described by 4x4 transformation matrices. The link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes. The resulting equations are presented as scalar and 4x4 matrix operations ready for programming. The efficiency of this formulation is compared to rigid link cases reported in the literature. en_US
dc.identifier.citation Book, Wayne, "Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices," Technical Report CMU-RI-TR-83-23, Carnegie-Mellon University, The Robotics Institute. en_US
dc.identifier.uri http://hdl.handle.net/1853/39331
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Robotics Institute, Carnegie Mellon University en_US
dc.subject Robots en_US
dc.subject Distributed parameter systems en_US
dc.subject Models en_US
dc.subject Manipulation en_US
dc.subject Vibration control en_US
dc.subject Flexible mechanisms en_US
dc.subject Mechanical arms en_US
dc.title Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices en_US
dc.type Text
dc.type.genre Technical Report
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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