Closed-form control oriented model of highly flexible manipulators

DOI10.1016/J.APM.2017.07.034MaRDI QIDQ2294826zbMATH OpenOpenAlexFDO

Authors Bruno Scaglioni, Luca Bascetta, Marco Baur, G. Ferretti

Publication date 12 February 2020

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL http://eprints.whiterose.ac.uk/143463/

zbMATH Keywords

closed form modeldynamicsflexible manipulatorsflexible multibodymanipulator controlNewton Euler model

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Time-scale analysis and singular perturbations in control/observation systems (93C70)

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Cites work

• Approximate solutions and eigenvalue bounds from Krylov subspaces
• Coupling of substructures for dynamic analyses.
• Dynamic modelling of a rigid-flexible manipulator for constrained motion task control
• scientific article; zbMATH DE number 1232474 (Why is no real title available?)
• Integral manifolds and decomposition of singularly perturbed systems
• Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint
• Model-based and model-free control of flexible-link robots: A comparison between representative methods
• Modeling and control of physical processes using proper orthogonal decomposition
• Object-oriented modelling of flexible beams
• Substructure synthesis methods for dynamic analysis of multi-body systems
• Use of Cholesky coordinates and the absolute nodal coordinate formulation in the computer simulation of flexible multibody systems

Cited in

(4)

• Modeling flexible manipulators without inverting their mass matrices
• Modeling study of planar flexible manipulator undergoing large deformation
• A closed-loop implementation of square-wave form control for the space flexible manipulator
• Modelling, control and validation of flexible robot manipulators

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