Static and dynamic modelling of a two-flexible-link robot manipulator

Robotica

Volumn 14, Issue 3, 1996, Pages 289-300

  Morris, A S ^a   Madani, A ^a  

^a UNIVERSITY OF SHEFFIELD   (United Kingdom)

Author keywords

Modelling; Robot; Superposition principle; Two flexible link

Indexed keywords

COMPUTATIONAL METHODS; CONTROL EQUIPMENT; EQUATIONS OF MOTION; MATHEMATICAL MODELS;

ASSUMED MODE METHOD; SUPERPOSITION PRINCIPLE; TWO FLEXIBLE LINK MANIPULATOR SYSTEM;

MANIPULATORS;

EID: 0030146192     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/s0263574700019603     Document Type: Article

References (9)

1. A.S. Morris and A. Madani "Multi-Mode Modelling of a Flexible Link Robot Manipulator" (Submitted for publication in Proceedings of the Inst. of Mech. Eng. Part I, (1995).
2. S. Timoshenko, D.H. Young and W. Weaver(Jr), Vibratton Problems in Engineering (Wiley, New York, 1974).
3. R.H. Cannon (Jr) and E. Schmitz, "Initial Experiments on the End-Point Control of a Flexible One-Link Robot" Int. J. Robotics Res. 3(3), 62-75 (1984).
4. A.S. Morris and A. Madani, "Inclusion of Shear Deformation Term to Improve Accuracy in Flexible-Link Robot Modelling" (Submitted for publciation in Mechatronics, 1995).
5. S. Timoshenko and J.M. Lessels, Applied Elasticity: First edition (Westinghouse Technical Night School Press, 1925).
6. F.S. Tse, I.E. Morse and R.T. Hinkle, Mechanical Vibrations, Theory and Application: Second edition (Allyn and Bacon, Boston, 1978).
7. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence (McGraw-Hill International Edition, New York, 1987).
8. S.P. Bhat and D.K. Mui, "Precise Point-to-Point Positioning Control of Flexible Structures" Trans. ASME, Journal of Dynamic Systems, Measurement, and Control 112, 667-674 (1990).
9. V.V. Korolov and Y.H. Chen, "Controller Design Robust to Frequency Variation in a One-Link Flexible Robot Arm" Trans. ASME, Journal of Dynamic Systems, Measurement, and Control 111, 9-14 (1989).