Dynamic Characterisation of a Flexible Manipulator System
Tokhi, M.O. and Mohammed, Z.
(2001)
Dynamic Characterisation of a Flexible Manipulator System.
Research Report.
ACSE Research Report 798
.
Department of Automatic Control and Systems Engineering
Abstract
This paper presents theoretical and experimental investigations into the dynamic modelling and charaterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods. The flexural and rigid dynamics of the system as well as inertia effects and structural dampening are accounted in the model. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experiment test-rig. Wxperimental results are presented for validation of the developed finite element model in the time and frequency domains.
Metadata
Item Type:
Monograph
Authors/Creators:
Tokhi, M.O.
Mohammed, Z.
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:
Dynamic modelling; Flexible manipulator; Finite element method
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