Static and Dynamic Modelling of a Two-Flexible-Link Robot Manipulator
Morris, A.S. and Madani, A.
(1995)
Static and Dynamic Modelling of a Two-Flexible-Link Robot Manipulator.
Research Report.
ACSE Research Report 586
.
Department of Automatic Control and Systems Engineering
Abstract
This paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary prerequisite for future work developing a high performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. This application of the model developed is demonstrated in a simulated two-flexible-link system.
Metadata
Item Type:
Monograph
Authors/Creators:
Morris, A.S.
Madani, A.
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.
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