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Symbolic modeling of flexible manipulators

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2 Author(s)
Cetinkunt, Sabri ; Georgia Institute of Technology, Atlanta, Georgia ; Book, W.J.

This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm via a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.

Published in:

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

Date of Conference:

Mar 1987