An Alternative Method To Formulate Closed-Form Dynamics for Elastic Manipulators Using Symbolic Process
Document Type
Conference Proceeding
Publication Date
1991
Abstract
An alternative symbolic method leading to closed-form formulation of the equations of motion for elastic manipulators is presented. The formalism is derived from the virtual work principle based on the assumed-mode method. The elastic members are treated as Euler-Bernoulli beams, and the rigid body dynamics is included and formulated separately. A symbolic model for an elastic manipulator with structural and joint flexibility is developed. Nonlinear and linearized equations are established and converted into Fortran code. Numerical simulation and a comparison of the results of nonlinear and linearized models are presented.
Repository Citation
Lieh, J.
(1991). An Alternative Method To Formulate Closed-Form Dynamics for Elastic Manipulators Using Symbolic Process. Proceedings - IEEE International Conference on Robotics and Automation, 3, 2369-2374.
https://corescholar.libraries.wright.edu/mme/755
DOI
10.1109/ROBOT.1991.131757
