Publicação: A planar flexible robotic manipulator
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Mcb Univ Press Ltd
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Resumo
Presents the dynamic modelling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory, which is used to discretize the displacements such that the small motion is represented in terms of nodal displacements. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.
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cybernetics, robotics, dynamic modelling, simulation
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Inglês
Como citar
Kybernetes. Bradford: Mcb Univ Press Ltd, v. 29, n. 5-6, p. 787-796, 2000.
