论文信息 - Symbolic modeling of flexible manipulators

Symbolic modeling of flexible manipulators

This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm via a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.

Wayne J. Book | Sabri Cetinkunt | W. Book | S. Cetinkunt

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