A DYNAMIC-MODEL ON A SINGLE-LINK FLEXIBLE MANIPULATOR

被引：6

作者：

CHANG, LW

GANNON, KP

机构：

[1] Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA

[2] Long Beach Naval Shipyard, Long Beach, CA

来源：

JOURNAL OF VIBRATION AND ACOUSTICS-TRANSACTIONS OF THE ASME | 1990年 / 112卷 / 01期

关键词：

D O I：

10.1115/1.2930089

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control. © 1990 ASME.

引用

页码：138 / 143

页数：6

共 9 条

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[2]

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[6]

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[9]

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