A planar flexible robotic manipulator
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Data
2000-01-01
Autores
Gamarra-Rosado, V. O.
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Editor
Mcb Univ Press Ltd
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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Palavras-chave
cybernetics, robotics, dynamic modelling, simulation
Como citar
Kybernetes. Bradford: Mcb Univ Press Ltd, v. 29, n. 5-6, p. 787-796, 2000.