Static and Dynamic Modelling of a Two-Flexible-Link Robot Manipulator

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Morris, A.S. ; Madani, A. (1995)
  • Publisher: Department of Automatic Control and Systems Engineering

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.
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