Title:
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints

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.contributor.corporatename University of Illinois at Chicago. Dept. of Mechanical Engineering
dc.date.accessioned 2011-06-22T14:15:33Z
dc.date.available 2011-06-22T14:15:33Z
dc.date.issued 1989
dc.description © Pergamon Press plc en_US
dc.description.abstract The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangian-assumed mode of 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 is 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-recursive form of equations, is studied on single CPU and multi-CPU parallel computation processors. en_US
dc.identifier.citation Cetinkunt, S. and W. Book, "Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints," Journal of Robotics and Computer Integrated Manufacturing, vol. 5, no. 4, pp. 301-310, 1989. en_US
dc.identifier.issn 0736-5845
dc.identifier.uri http://hdl.handle.net/1853/39278
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Pergamon Press
dc.subject Robotic manipulators en_US
dc.subject Dynamic models en_US
dc.subject Flexible manipulators en_US
dc.title Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints 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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