Three-dimensional kinematic analysis and verification for a flexible robot arm

ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002

Volumn 5, Issue , 2002, Pages 533-542

  Gu, Min ^a   Piedboeuf, Jean Claude ^a  

^a CANADIAN SPACE AGENCY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

3-DIMENSIONAL; DEFORMATION PARAMETER; EXPLICIT EXPRESSIONS; FLEXIBLE ROBOTS; NONLINEAR KINEMATICS; PHYSICAL MEANINGS; ROBOT ARMS; ROTATION VECTOR; THREE-DIMENSIONAL KINEMATICS; VISION SYSTEMS; KINEMATIC RELATIONS; KINEMATIC RESPONSE; POSITION AND ORIENTATIONS;

COMPUTER SIMULATION; DEFORMATION; FLEXIBLE MANIPULATORS; KINEMATICS; ROBOTIC ARMS; STRAIN GAGES; STRAIN MEASUREMENT; TECHNICAL PRESENTATIONS; ROBOTS;

COMPUTER VISION; ROBOTIC ARMS;

EID: 0036974523     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. J.-C. Piedboeuf, "Recursive modeling of serial flexible manipulators," The Journal of the Astronautical Sciences, vol. 46, pp. 1-24, 1998.
2. J. C. Simo, "A finite strain beam formulation: The three-dimensional dynamic problem. part," Computer Methods in Applied Mechanics and Engineering, vol. 49, pp. 55-70, 1985.
3. K. C. Park, J. D. Downer, J. C. Chiou, and C. Farhat, "A modular multibody analysis capability for high-precision, active control and real-time applications," International Journal for Numerical Methods in Engineering, vol. 32, pp. 1767-1798, 1991.
4. I. Sharf, "Geometrical non-linear beam element for dynamics simulation of multibody system," International Journal for Numerical Methods in Engineering, vol. 39, pp. 763-786, 1996.
5. F. Boyer, N. Glandais, and W. Khalil, "Consistent first and second order dynamic model of of flexible manipulators," in Proceedings of 1998 IEEE International Conference on Robotics and Automation, (Leuven, Belgium), pp. 1096-1103, May 1998.
6. J.-C. Piedboeuf, "Modeling flexible robots with maple," Maple Tech: The Maple Technical Newsletter, vol. 3, no. 1, pp. 38-47, 1996.
7. R. E. Valembois, P. Fisette, and J. C. Samin, "Comparison of various techniques for modelling flexible beams in multibody dynamics," Nonlear Dynamics, vol. 12, pp. 367-397, 1997.
8. A. Cardona and M. Geradin, "A beam finite element non-linear theory with finite rotations," International Journal for Numerical Methods in Engineering, vol. 26, pp. 2403-2438, 1988.
9. J.-C. Piedboeuf, "The Jacobian matrix for a flexible manipulator," Journal of Robotic System, vol. 12, no. 11, pp. 709-726, 1995.
10. J.-C. Piedboeuf and S. Miller, "Estimation of endpoint position and orientation of a flexible link using strain gauges," in Symposium on Robot Control, (Capri Italy), pp. 675-680, September 1994.
11. M. Gu, "Detection of endpoint position and orientation of flexible manipulators using distributed strain gauges," Tech. Report CSA-TR-2001-0002, Canadian Space Agency, February 2001.
12. M. Gu and J.-C. Piedboeuf, "A flexible-link as an endpoint position and force detection unit," in 15th IFAC World Congress, (Barcelona, Spain), International Federation of Automatic and Control, July 2002.
13. M. Gu, "Kinematics of flexible manipulator: Modeling, simulation and tests," Tech. Report CSA-TR-2001-0003, Space Technologies, Canadian Space Agency, December 2001.
14. M. Gu and J.-C. Piedboeuf, "Determination of endpoint positon and force of flexible manipulator via strain measurement," (Queen's University, Kingston, Ontario Canada), CSME Forum 2002, May 2002.
15. J. J. Craig, Introduction to Robotics: Mechanics and Control. Addison-Wesley, 2nd ed., 1989.