NUMERICAL-SIMULATION OF SPATIAL MECHANISMS AND MANIPULATORS WITH FLEXIBLE LINKS

被引:5
作者
BESSELING, JF
GONG, DG
机构
[1] Laboratory for Engineering Mechanics, Delft University of Technology, 2628 CD Delft
关键词
Control laws - Element deformations - Flexible films - Nodal coordinates - Rate control - Relative elements motion - Strain functions - Two beam elements - Virtual power;
D O I
10.1016/0168-874X(94)90096-5
中图分类号
O29 [应用数学];
学科分类号
070104 ;
摘要
A finite element method which relates the nodal coordinates to element deformations or relative motion of elements with generalized strain functions is successfully used for kinematic analysis, dynamic analysis and simulation of spatial mechanisms and manipulators and control of robots with flexible links. Flexibility of bodies can be easily taken into account. Equations of motion are obtained by the principle of virtual power. Systems are automatically linearized and control laws have been designed for joint and end position/rate control around the linearized reference trajectory. Dynamic and control examples will be presented.
引用
收藏
页码:121 / 128
页数:8
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