Title:
Symbolic Modelling and Dynamic Analysis of Flexible Manipulators
Symbolic Modelling and Dynamic Analysis of Flexible Manipulators
Author(s)
Cetinkunt, Sabri
Siciliano, Bruno
Book, Wayne J.
Siciliano, Bruno
Book, Wayne J.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
This paper presents a systematic method
to symbolically derive the full nonlinear dynamic
equations of motion of Multi-link flexible
manipulators. Lagrange's-Assumed Modes method is
used for the dynamic modelling and implemented via
a commercially available symbolic manipulation
program. Adaptation of the method suitable for
symbolic manipulation and advantages are discussed.
Simulation results for a two-link planar flexible
arm presented.
Sponsor
Date Issued
1986
Extent
Resource Type
Text
Resource Subtype
Proceedings