Port-based modeling and simulation of mechanical systems with rigid and flexible links

IEEE Transactions on Robotics

Volumn 25, Issue 5, 2009, Pages 1016-1029

  Macchelli, Alessandro ^a   Melchiorri, Claudio ^a   Stramigioli, Stefano ^b  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

Flexible mechanisms; Mechanisms dynamics; Modeling; Port Hamiltonian systems; Simulation

Indexed keywords

AUTOMATIC PROCEDURES; DYNAMICAL EQUATION; DYNAMICAL MODEL; FLEXIBLE LINKS; FLEXIBLE MECHANISMS; HAMILTONIAN FORMALISM; KINEMATIC PAIRS; KIRCHHOFF LAWS; MECHANICAL SYSTEMS; MODELING; MODELING AND SIMULATION; ORIENTED GRAPH; PORT-HAMILTONIAN SYSTEMS; RIGID BODY; SIMULATION;

CIRCUIT THEORY; ELECTRIC DRIVES; FLEXIBLE MANIPULATORS; FLEXIBLE STRUCTURES; MECHANICS; MECHANISMS; MECHATRONICS; PORTS AND HARBORS; SIMULATORS;

HAMILTONIANS;

EID: 70350240007     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2026504     Document Type: Article

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