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An analytical and experimental investigation of flexible manipulator performance

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2 Author(s)
Naganathan, G. ; The University of Toledo, Toledo, Ohio ; Soni, A.

A critical modeling of a flexible manipulator will involve a thorough understanding of the issues specific to flexible manipulator performance and an experimental investigation of a physical system. A comprehensive dynamic model of a flexible manipulator has been presented in this paper together with a preliminary experimental investigation that examines the performance of this comprehensive model. The analytical model recognizes in particular, the coupling characteristics of the deformations in a flexible manipulator configuration and realizes an efficient and dedicated finite element scheme to model general spatial manipulator configurations with revolute and prismatic pairs. The experimental results indicate a favorable level of performance for the application of the special finite element for a practical manipulator.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987

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