On the properties of a dynamic model of flexible robot manipulators

被引：47

作者：

Arteaga, MA ^{[1
]}

机构：

[1] Univ Duisburg Gesamthsch, D-4100 Duisburg, Germany

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1998年 / 120卷 / 01期

关键词：

D O I：

10.1115/1.2801326

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange's equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact an control design is underlined.

引用

页码：8 / 14

页数：7

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