CLOSED-FORM DYNAMIC-MODEL OF PLANAR MULTILINK LIGHTWEIGHT ROBOTS

被引：260

作者：

DELUCA, A ^{[1
]}

SICILIANO, B ^{[1
]}

机构：

[1] UNIV NAPOLI FEDERICO II,DIPARTIMENTO INFORMAT & SISTEMIST,I-80125 NAPLES,ITALY

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1991年 / 21卷 / 04期

关键词：

D O I：

10.1109/21.108300

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Closed-form equations of motion are presented for planar lightweight robot arms with multiple flexible links. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and flexible displacement, under small deflection assumption. The Lagrangian approach is used to derive the dynamic model of the structure. Links are modeled as Euler-Bernoulli beams with proper clamped-mass boundary conditions. The assumed modes method is adopted in order to obtain a finite-dimensional model. Explicit equations of motion are detailed for a two-link case assuming two modes of vibration for each link. The associated eigenvalue problem is discussed in relation with the problem of time-varying mass boundary conditions for the first link. The model is cast in a compact form that is linear with respect to a suitable set of constant parameters. Extensive simulation results are included that validate the theoretical derivation.

引用

页码：826 / 839

页数：14

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