Symbolic Modeling of Flexible Manipulators
Author(s)
Cetinkunt, Sabri
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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.
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Date
1987-04
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Text
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Article