By Topic

Generalization of Newton-Euler Formulation of Dynamic Equations to Nonrigid Manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Y. Huang ; School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907 ; C. S. G. Lee

Two recursive dynamic models, based on the Newton-Euler formulation, are proposed to model the dynamics of manipulators with link flexibility. In both models, the displacement and rotation due to the link flexibility are assumed to be measurable. For a small link deformation, a first-order lumped mass/spring approximation model is proposed, in which the parameters of each link are lumped to its joint and the link flexibility is modelled as a spring at each joint. For a larger deformation, the first-order lumped mass/spring approximation model is extended to model each nonrigid link by a series of small rigid beams connected by "pseudo-joints." The link flexibility is modelled as a spring in each pseudo-joint. In both models, the effects of torsion and extension are not included in the modelling. An analytical error analysis is performed to justify the approximation and the mathematical relation between the maximum modelling error and the number of pseudo-joints on each link is derived. As the number of pseudo-joints approaches infinity, the joint torques computed by the extended lumped mass/spring approximation model approach the joint torques computed by other models obtained from the Lagrange's equation.

Published in:

American Control Conference, 1987

Date of Conference:

10-12 June 1987