Title:
Symbolic modelling and dynamic analysis of flexible manipulators
Symbolic modelling and dynamic analysis of flexible manipulators
Authors
Cetinkunt, Sabri
Siciliano, Bruno
Book, Wayne J.
Siciliano, Bruno
Book, Wayne J.
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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.
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1986-10
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Post-print