Title:
Symbolic Modeling of Flexible Manipulators
Symbolic Modeling of Flexible Manipulators
dc.contributor.author | Cetinkunt, Sabri | |
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.date.accessioned | 2011-06-13T16:51:03Z | |
dc.date.available | 2011-06-13T16:51:03Z | |
dc.date.issued | 1987-04 | |
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/ROBOT.1987.1087748 | |
dc.description.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. | en_US |
dc.identifier.citation | Cetinkunt, Sabri, and Book, Wayne J. "Symbolic Modeling of Flexible Manipulators," Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, April 1987, pp. 2074-2080. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/39090 | |
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 | Control systems | en_US |
dc.subject | Flexible manipulators | en_US |
dc.subject | Symbolic modeling | en_US |
dc.title | Symbolic Modeling of Flexible Manipulators | en_US |
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) | |
relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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