A new algorithm for a dynamic model of flexible manipulators;Um novo algoritmo para a modelagem dinâmica de manipuladores flexíveis

Controle y Automacao

Volumn 13, Issue 2, 2002, Pages 134-140

  Machado, Celiane C ^a   Gomes, Sebastião C P ^a   Pereira, Adriana E L ^a   De Bortoli, Álvaro L ^b  

^a FEDERAL UNIVERSITY OF RIO GRANDE   (Brazil)

^b FEDERAL UNIVERSITY OF RIO GRANDE DO SUL   (Brazil)

Author keywords

Flexible robots modelling; Flexible structures; Lumped mass modelling approach

Indexed keywords

ALGORITHMS; CONTROL THEORY; DIFFERENTIAL EQUATIONS; ROBOTS;

ACTIVE CONTROL LAW; LUMPED MASS MODELLING;

MANIPULATORS;

EID: 18244412299     PISSN: 01031759     EISSN: None     Source Type: Journal    
DOI: 10.1590/s0103-17592002000200005     Document Type: Article

References (7)

1. Gomes, S. C. P. e J. P. Chrétien (1992). Dynamic modeling and friction compensated control of a 1 d.o.f. rigid or flexible manipulator In Microdynamic et Pointage de Grande Précision, CNES, 1er Symposium Internacional.
2. Machado, C. C. (1999). Um Estudo Sobre Controle de Estruturas Flexíveis Ativadas por Escoamentos de Fluidos, Dissertação de Mestrado, UFRGS, Porto Alegre - RS, Brasil.
3. Moorehead, S. J. e D. Wang (1997). An Experimental Study of Contact Transition Control of a Single Flexible Link Using Positive Acceleration Feedback, IEEE-International Conference on Robotics and Automation,Albuquerque, New Mexico.
4. Pereira, A. E. L. (1999). Um Estudo Sobre Modelagem Matemática de Estruturas Flexíveis, Dissertação de Mestrado, UFRGS, Porto Alegre-RS, Brasil.
5. Schmitz, E. (1985). Experiments on the End-Point Control of a very Flexible One-link Manipulator, Ph.D. Thesis, Stanford, California, United States.
6. Soares, A. M. S. (1997). Modelagem e identificação experimental de estruturas flexíveis. Tese de Doutorado, ITA, São José dos Campos, Brasil.
7. Talebi, H. A., K. Khorasani e R. V. Patel (1999). Experimental Results on Tracking Control of a Flexible-Link Manipulator: A New Output Re-definition Approach, IEEE-International Conference on Robotics and Automation, Detroit, Michigan.