Title:
Symbolic Modeling of Flexible Robotic Manipulators
Symbolic Modeling of Flexible Robotic Manipulators
| dc.contributor.author | Book, Wayne J. | |
| dc.contributor.author | Cetinkunt, Sabri | |
| 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 | 2011-06-01T19:28:13Z | |
| dc.date.available | 2011-06-01T19:28:13Z | |
| dc.date.issued | 1987-04 | |
| dc.description | Submitted to the Journal of Dynamic Systems, Measurement, and Control. April 1987. | en_US |
| 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. The advantages of obtaining dynamic equations in symbolic form and of the presented algorithm are discussed. Application of the algorithm to a two-link flexible arm example via a commercially available symbolic manipulation program is presented. Simulation results are given and discussed. | en_US |
| dc.identifier.citation | Cetinkunt, Sabri and Book, Wayne J. Symbolic Modeling of Flexible Robotic Manipulators. Submitted to the Journal of Dynamic Systems, Measurement, and Control. April 1987. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/39036 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Flexible manipulators | en_US |
| dc.subject | Symbolic modelling | en_US |
| dc.subject | Dynamic equations | en_US |
| dc.title | Symbolic Modeling of Flexible Robotic Manipulators | en_US |
| dc.type | Text | |
| dc.type.genre | Pre-print | |
| 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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