Systematic methods for efficient modeling and dynamics computation of flexible robot manipulators

DOI10.1109/21.214769zbMath0777.70004OpenAlexW2020279250MaRDI QIDQ4202479

T. S. Sankar, Chang-Jin Li

Publication date: 12 December 1993

Published in: IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/21.214769

zbMATH Keywords

control systemsforward recursionsingle-link flexible robotLagrangian assumed modes methodlink deflectionreturn recursiontruncated modal expansionlink coordinate systems

Mathematics Subject Classification ID

Vibrations in dynamical problems in solid mechanics (74H45) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Related Items (3)

A computationally efficient method for modeling flexible robots based on the assumed modes method ⋮ Dynamic model of a flying manipulator with two highly flexible links ⋮ A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links

This page was built for publication: Systematic methods for efficient modeling and dynamics computation of flexible robot manipulators