By Topic

Trajectory selection for a rigid/flexible manipulator

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
$31 $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

1 Author(s)
Ata, A.A. ; Dept. of Eng. Math. & Phys., Alexandria Univ., Alexandria, Egypt

Dynamic analysis and trajectory planning for a rigid-flexible manipulator is considered here. The manipulator under consideration consists of two links, the first link is rigid while the second link is flexible. Euler-Bernoulli's beam theory is utilized to model the elastic link where shear deformation and rotary inertia can be neglected if the cross sectional area is small compared to the length of the beam. The tangential coordinate frame is employed to describe the elastic deflection of the flexible link. The equations of motion of the manipulator are derived using the Extended Hamilton's Principle. The joints trajectory will be designed based on two different trajectories and the joints torques required to move the manipulator joints according to a prescribed trajectory will be obtained through the solution of the inverse dynamics problem. To validate the applicability of soft motion trajectory for flexible manipulators, a comparison with fifth-order polynomial trajectory is carried out for the first three mode shapes of the flexible link.

Published in:

Industrial Technology (ICIT), 2012 IEEE International Conference on

Date of Conference:

19-21 March 2012