A Case Study: Modeling of A Passive Flexible Link on A Floating Platform for Intervention Tasks

This paper focuses on modeling of a robotic system consisting of a floating platform and a passive flexible-link, which is subjected to three-dimensional large bending deformation during intervention tasks. It investigates the feasibility and efficacy of the quasi-Lagrangian approach and the Euler-Bernoulli beam assumption in modeling this system. Simulations and experiments were conducted to evaluate the model. Then the contact force was calculated with given external input force along with the pose and velocities of the robot, which is validated by the measurements obtained from force-torque sensors. It also found that the accelerations calculated from the model have some deviation from the results obtained from a tracking system.

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