Title:
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
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Cetinkunt, Sabri
Book, Wayne J.
Book, Wayne J.
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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.
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Date Issued
1989
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