Scaglioni, B orcid.org/0000-0003-4891-8411, Bascetta, L, Baur, M et al. (1 more author) (2017) Closed-form control oriented model of highly flexible manipulators. Applied Mathematical Modelling, 52. pp. 174-185. ISSN 0307-904X
Abstract
This paper first presents a highly flexible 3D manipulator with links of arbitrary shape, then develops a closed-form dynamic model that best describes it. The model is based on a Newton–Euler formulation and the substructuring method is used to account for large deformations. The formulation of the motion equations starts from a data set which can be either analytically or numerically computed by finite elements(FE) codes. Simulation has been used to validate the model and compare the results with those of two different multibody software and one experimental, which was obtained from the Multi-Elastic-Link Robot Identification Dataset (MERIt), developed by the TU Dortmund. Then, thanks to the approach here adopted, an integral manifold model is derived, suitable for advanced control system design.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | (c) 2017, Elsevier Inc. All rights reserved. This is an author produced version of a a paper published in Applied Mathematical Modelling. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Flexible manipulators; Newton Euler model; Closed form model; Manipulator control; Dynamics; Flexible multibody |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Mar 2019 17:23 |
Last Modified: | 25 Jun 2023 21:44 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.apm.2017.07.034 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:143463 |