论文信息 - Dynamic modelling of a two link flexible robot experimental validation * and

Dynamic modelling of a two link flexible robot experimental validation * and

The paper discusses modelling issues for a two link flexible robot arm. The exact dynamic model of the robot arm is derived, and approximate forms suitable for analysis and control design are also proposed. The approach used here to derive an approximate finite dimensional model of the flexible robot arm is based on the Ritz expansion method. Simulations and experimental tests have been carried out to validate the approximate dynamic model of the robot.

Paolo Valigi | Salvatore Nicosia | L. Zaccarian

[1] Steven Dubowsky,et al. On the Dynamic Analysis and Behavior of Industrial Robotic Manipulators With Elastic Members , 1983 .

[2] Antonio Tornambè,et al. Approximate modeling of robots having elastic links , 1988, IEEE Trans. Syst. Man Cybern..

[3] Eduardo Bayo,et al. A simple and efficient computational approach for the forward dynamics of elastic robots , 1989, J. Field Robotics.

[4] W. Book. Recursive Lagrangian Dynamics of Flexible Manipulator Arms , 1984 .

[5] Friedrich Pfeiffer,et al. Experiments with flexible manipulators , 1994 .

[6] Sabri Cetinkunt,et al. Accuracy of finite dimensional dynamic models of flexible manipulators for controller design , 1992, J. Field Robotics.

[7] Antonio Tornambè,et al. Harmonic Response Measurement of Single-link Flexible Robot Arms , 1993 .

[8] P. Lugner,et al. Comparison of a Modal-Expansion- and a Finite-Element-Model for a Two-Beam Flexible Robot Arm , 1988 .

[9] Alessandro De Luca,et al. Closed-form dynamic model of planar multilink lightweight robots , 1991, IEEE Trans. Syst. Man Cybern..

[10] R. H. Cannon,et al. Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .