Control Experiment of a Flexible Robot Arm Using the Floating Frame Model

Journal of Robotics and Mechatronics

Volumn 8, Issue 1, 1996, Pages 112-121

  Caracciolo, Roberto ^a   Ceresole, Enrico ^a   Giovagnoni, Marco ^b  

^a UNIVERSITY OF PADOVA   (Italy)

^b UNIVERSITY OF UDINE   (Italy)

Author keywords

Flexible; Floating frame; Large rotations; Single link

Indexed keywords

FLEXIBLE MANIPULATORS;

CONTROL EXPERIMENTS; DYNAMICS MODELS; FLEXIBLE; FLEXIBLE ROBOT ARMS; FLOATING FRAMES; FRAME MODELS; FRAMES OF REFERENCE; INERTIA COUPLING; LARGE ROTATION; SINGLE LINK;

ROBOTIC ARMS;

EID: 0005146909     PISSN: 09153942     EISSN: 18838049     Source Type: Journal    
DOI: 10.20965/jrm.1996.p0112     Document Type: Article

References (12)

1. M. Giovagnoni, "A Numerical and Experimental Analysis of a Chain of Flexible Bodies," Journal of Dynamic Systems, Measurement and Control, ASME, 116, 73-80 (1994).
2. J.C. Simo and L. Vu-Quoc, "On the Dynamics of Flexible Beams Under Large Overall Motion The Plane Case: Part I and Part II," Journal of Applied Mechanics, ASME, 53, 849-861 (1986).
3. R.H. Cannon and E. Schmitz, "Initial Experiments on the End-point Control of a Flexible One-link Robot," International Journal of Rohotics Research 3, 62-74 (1984)
4. E. Barbieri and U. Ozguner, "Unconstrained and Constrained Mode Expansion for a Flexible Slewing Link," Journal of Dynamic Systems, ASME, 110, 416-421, (1988).
5. B. Fraeijs de Veubeke, "The Dynamics of Flexible Bodies," International Journal of Engineering Science 14, 895-913 (1976).
6. M. Giovagnoni, "Linear Decoupled Models for the Slewing Beam
7. Undergoing Large Rotations," Journal of Sound and Vibration, 164, 485-501 (1993).
8. M. Bisiacco, R. Caracciolo and M. Giovagnoni, "About the Use of a Foating Frame in the Optimal Control of the Flexible Robot Arm," Journal of Robotics and Mechatronics 4, 330-338 (1992).
9. A.A. Goldenberg and F. Rakhsha, "Dynamics Modelling of a Single Link Flexible Robot," IEEE, Proceedings of the International Conference on Robotics and Automation (1985).
10. A.A. Goldenberg and F. Rakhsha, "Feedfoward Control of a SingleLink Flexible Robot," Mechanism and Machine Theory, 21, 325-335 (1986).
11. M. Giovagnoni and A. Rossi, "Transient Analysis of a Flexible Crank," Mechanism and Machine Theory 24, 231-243, 1988.
12. R. Caracciolo, E. Ceresole, M. Giovagnoni and A. Rossi, "Mechanical Models for the Control of the Flexible Robot Arm," Proceedings of the 4th IFAC Symposium SY.RO.CO/94, 1994,