Title:
A linear dynamic model for flexible robotic manipulators
A linear dynamic model for flexible robotic manipulators
| dc.contributor.author | Hastings, Gordon Greene | |
| dc.contributor.author | Book, Wayne J. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Clemson University. Dept. of Mechanical Engineering | |
| dc.date.accessioned | 2011-06-13T17:19:47Z | |
| dc.date.available | 2011-06-13T17:19:47Z | |
| dc.date.issued | 1987-02 | |
| dc.description | (c) 1987 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Digital Object Identifier : 10.1109/MCS.1987.1105233 | |
| dc.description.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. | en_US |
| dc.identifier.citation | Hastings, G. and W. Book, "Verification of a Linear Dynamic Model for Flexible Robotic Manipulators," IEEE Control Systems Magazine, vol. 7, no. 1, pp. 61-74, February 1987. | en_US |
| dc.identifier.issn | 0272-1708 | |
| dc.identifier.uri | http://hdl.handle.net/1853/39091 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Dynamic models | en_US |
| dc.subject | Motion control | en_US |
| dc.subject | Robotic manipulators | en_US |
| dc.title | A linear dynamic model for flexible robotic manipulators | en_US |
| dc.title.alternative | Verification of a Linear Dynamic Model for Flexible Robotic Manipulators | |
| dc.type | Text | |
| dc.type.genre | Article | |
| 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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