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Modeling of mechanical systems with lumped elasticity

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2 Author(s)
Khalil, W. ; Inst. de Recherche en Cybern. de Nantes, France ; Gautier, M.

Presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide the kinematic and dynamic models of such systems. To achieve this goal we adapted some well known tools and notations which are widely used for rigid robots. The inverse dynamic model has to be redefined and developed

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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