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Dynamics of nonrigid articulated robot linkages

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2 Author(s)
Judd, Robert P. ; Oakland University, Rochester, MI, USA ; Falkenburg, R.

This paper presents the kinematic and dynamic analysis of an n -link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

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Automatic Control, IEEE Transactions on  (Volume:30 ,  Issue: 5 )