A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators

DOI10.1115/1.3143768MaRDI QIDQ3741105zbMATH OpenOpenAlexFDO

Authors P. B. Usoro, R. Nadira, Surjit S. Mahil

Publication date 1986

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143768

zbMATH Keywords

control problemdynamical problemfinite elementsLagrange equationsmanipulatornonlinear model

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Rods (beams, columns, shafts, arches, rings, etc.) (74K10)

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Cited in

(24)

• A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links
• Coupling characteristics of rigid body motion and elastic deformation of a 3-PRR parallel manipulator with flexible links
• Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms
• Dynamic analysis of a two-link flexible manipulator system using extended bond graphs
• Direct and inverse dynamics of a very flexible beam
• Automated fast symbolic modeling of robotic manipulators with compliant links
• Mode shape analysis, modal linearization, and control of an elastic two-link manipulator based on the normal modes
• Composite rigid body formalism for flexible multibody systems
• Simultaneous optimization of a two-link flexible robot arm
• Vibration suppression during input tracking of a flexible manipulator using a hybrid controller
• A general force/torque relationship and kinematic representation for flexible link manipulators
• Nonlinear recursive method to solid deformable structure dynamic problems
• scientific article; zbMATH DE number 1375085 (Why is no real title available?)
• Explicit dynamic equations for a chain of flexible links
• A systematic method of dynamics for flexible robot manipulators
• Dynamics of flexible multibody systems with tree topologies
• Flexible‐link robot arm control by a feedback linearization/singular perturbation approach
• Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity
• scientific article; zbMATH DE number 798828 (Why is no real title available?)
• scientific article; zbMATH DE number 1441913 (Why is no real title available?)
• Command shaped trajectory tracking control for a two-link flexible manipulator
• Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints
• Dynamics analysis of linear elastic planar mechanisms
• Dynamic analysis of flexible-link and flexible-joint robots

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