Title:
Recursive Lagrangian Dynamics of Flexible Manipulators
Recursive Lagrangian Dynamics of Flexible Manipulators
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-06-06T19:22:01Z | |
| dc.date.available | 2011-06-06T19:22:01Z | |
| dc.date.issued | 1984-09 | |
| dc.description | © 1984 Massachusetts Institute of Technology | en_US |
| dc.description | DOI: 10.1177/027836498400300305 | en_US |
| dc.description.abstract | Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described by 4 X 4 trans formation matrices. The link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes. The resulting equations are pre sented as scalar and 4 X 4 matrix operations ready for pro gramming. The efficiency of this formulation is compared to rigid-link cases reported in the literature. | en_US |
| dc.identifier.citation | Book, Wayne, "Recursive Lagrangian Dynamics of Flexible Manipulators," The International Journal of Robotics Research, Vol. 3, No. 3 (September 1984) 87-101. | en_US |
| dc.identifier.issn | 0278-3649 | |
| dc.identifier.uri | http://hdl.handle.net/1853/39056 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | MIT Press | en_US |
| dc.subject | Nonlinear equations of motion | en_US |
| dc.subject | Kinematics | en_US |
| dc.subject | Mathematical models | en_US |
| dc.title | Recursive Lagrangian Dynamics of Flexible Manipulators | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| 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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