A Unified Approach to Modelling of Flexible Robot Arms
暂无分享，去创建一个
Increasing demands on velocity and accuracy of robot motions require the consideration of the elasticity of robot arms in the controller and structural design. The first and most essential step is the mathematical modeling. The transmission flexibility and the torquer dynamics can easily be modeled by proven rigid body formalisms. The structural elasticity of robot arms, however, has to be regarded with more detail.
[1] R. Singh,et al. Dynamics of flexible bodies in tree topology - A computer oriented approach , 1985 .
[2] M. A. Chace,et al. Methods and Experience in Computer Aided Design of Large-Displacement Mechanical Systems , 1984 .
[3] W. Schiehlen. Dynamics of complex multibody systems , 1984 .
[4] Steven Dubowsky,et al. The Application of Finite Element Methods to the Dynamic Analysis of Flexible Spatial and Co-Planar Linkage Systems , 1981 .