Modeling of flexible beams for robotic manipulators

Multibody System Dynamics

Volumn 7, Issue 1, 2002, Pages 79-100

  Martins, Jorge ^a   Ayala Botto, Miguel ^a   Da Costa, José Sá ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

Centrifugal stiffening; Flexible manipulators

Indexed keywords

LINEARIZATION; MATHEMATICAL MODELS; MOTION CONTROL; ROBOTIC ARMS; STIFFNESS;

CENTRIFUGAL STIFFENING; PLANAR MANIPULATOR;

FLEXIBLE MANIPULATORS;

EID: 0036471510     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1015239604152     Document Type: Article

References (34)

1. On the properties of a dynamic model of flexible robot manipulators
2. Dynamics of flexible multibody systems using Cartesian co-ordinates and large displacement theory
3. Analysis of massless elastic chains with servo controlled joints
4. Recursive Lagrangian dynamics of flexible manipulator arms
5. Geometric modeling of flexible manipulators with large elastic displacements and rotations
6. Simulation of flexible-link manipulators with inertial and geometric nonlinearities
7. Bond graph modelling and control of flexible robot arms
8. Closed-form dynamic model of planar multilink lightweight robots
9. Nonlinear dynamics of a flexible multirod (multibeam) system
10. Position and force control in industrial manipulators with flexible links and joints
11. Finite element modelling concepts in multibody dynamics
12. Dynamics of a cantilever beam attached to a moving base
13. A methodology for the identification of a two degrees of freedom robotic manipulator arm
14. Design of a 2DOF planar manipulator for force/position control algorithms test
15. A coordinate reduction technique for transient analysis of spatial substructures with large angular rotations
16. A finite strain beam formulation. The three-dimensional dynamic problem. Part I
17. A three-dimensional finite strain rod model. Part II: Computational aspects
18. On the dynamics of flexible beams under large overall motions - the plane case: Part I
19. On the dynamics of flexible beams under large overall motions - the plane case: Part II
20. The role of non-linear theories in transient dynamic analysis of flexible structures
21. On the dynamics in space of rods undergoing large motions - a geometrically exact approach
22. Dominance of stiffening effects for rotating flexible beams
23. Validation of a dynamics simulation for a structurally flexible manipulator
24. Comparison of the assumed modes and finite element models for flexible multilink manipulators
25. Approximate modeling of robots having elastic links
26. Regulation of a geometrically exact flexible beam manipulator