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Approaches for dynamic modelling of flexible manipulator systems

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5 Author(s)
Martins, J.M. ; Dept. of Mech. Eng., Tech. Univ. of Lisbon, Portugal ; Mohamed, Z. ; Tokhi, M.O. ; Sa da Costa, J.
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An investigation into the dynamic modelling of flexible manipulator systems with different mechanical structures and actuation mechanisms is presented. Dynamic models of the systems are developed based on the assumed modes method considering linear displacements, quadratic displacements and the finite element method. Simulation and experimental exercises are performed with bang-bang torque and smooth displacement driven manoeuvres. To investigate the effects of centrifugal forces, slow and fast trajectories are implemented. Simulation and experimental results of the response of the flexible manipulators are presented in the time and frequency domains. Moreover, model validations are carried out by comparing the results to assess the performance of the modelling approaches.

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Control Theory and Applications, IEE Proceedings -  (Volume:150 ,  Issue: 4 )