Finite Difference and Finite Element Simulation of a Flexible Manipulator
Tokhi, M.O., Mohammed, Z. and Azad, A.K.M.
(1996)
Finite Difference and Finite Element Simulation of a Flexible Manipulator.
Research Report.
ACSE Research Report 617
.
Department of Automatic Control and Systems Engineering
Abstract
This paper presents a comparative investigation into the dynamic characterisation of flexible manipulators on the basis of accuracy, computational efficiency and computational requirements using finite difference (FD) and finite element (FE) methods. A constrained planar single-link flexible manipulator is considered. Finite-dimensional simulations of the manipulator are developed using FD and FE methods. The simulation algorithms thus developed are implemented on two computing domains and their performances on the basis of accuracy in characterising the behaviour of the manipulator and computational efficiency are assessed.
Metadata
Item Type:
Monograph
Authors/Creators:
Tokhi, M.O.
Mohammed, Z.
Azad, A.K.M.
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.
Keywords:
Discrete simulation; Finite difference method; Finite element method; Flexible manipulators.
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