JOURNAL ARTICLE
Dynamic modelling of flexible robot manipulators
Abstract
The problem of modeling flexible robots is considered. The dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bent beams constituting the robot. General properties of the model, such as controllability, are then investigated. To manipulate the cumbersome formulas the SAM language MACSYMA has been extensively used.
Keywords:
Controllability Robot Lagrangian Computer science Function (biology) Control theory (sociology) Control engineering Mathematics Artificial intelligence Applied mathematics Engineering Control (management)
Metrics
38
Cited By
8.36
FWCI (Field Weighted Citation Impact)
31
Refs
0.98
Citation Normalized Percentile
Is in top 1%
Is in top 10%
Topics
Dynamics and Control of Mechanical Systems
Physical Sciences → Engineering → Control and Systems Engineering
Robotic Mechanisms and Dynamics
Physical Sciences → Engineering → Control and Systems Engineering
Control and Stability of Dynamical Systems
Physical Sciences → Engineering → Control and Systems Engineering
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