Morris, A.S. and Madani, A. (1995) Multi-Mode Modelling of a Flexible Link Robot Mnaipulator. Research Report. ACSE Research Report 579 . Department of Automatic Control and Systems Engineering
Abstract
This paper is addressed towards the problem of developing an accurate static and dynamic model for a two-flexible-link manipulator. The inadequacy of existing techniques for flexible link modelling is explained and a new formulation, based on an assumed mode modelling technique with a correction factor derived from finite element analysis, is derived. This takes account of second and third modes in the dynamics and is shown to provide an improvement in model accuracy compared with most modelling algorithms which neglect these higher models.
Metadata
Item Type: | Monograph |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports |
Depositing User: | MRS ALISON THERESA BARNETT |
Date Deposited: | 30 Jul 2014 08:32 |
Last Modified: | 03 Nov 2016 02:30 |
Status: | Published |
Publisher: | Department of Automatic Control and Systems Engineering |
Series Name: | ACSE Research Report 579 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:79934 |