论文信息 - Dynamics of Nonrigid Articulated Robot Linkages

Dynamics of Nonrigid Articulated Robot Linkages

This paper presents the kinematic and dynamic analysis of an n-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using an Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

Robert P. Judd | R. Falkenburg | R. Judd | R. Falkenburg

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