Simulation of Flexible-Link Manipulators Applying Sequential Integration Method

[+] Author and Article Information
Liang-Wey Chang

Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA 93943

J. F. Hamilton

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

J. Dyn. Sys., Meas., Control 113(1), 175-178 (Mar 01, 1991) (4 pages) doi:10.1115/1.2896346 History: Received October 16, 1987; Revised January 01, 1990; Online March 17, 2008


The Equivalent Rigid Link System (ERLS) dynamic model offered a complete representation for the dynamics of flexible manipulators. The equations of motion were separated into a nonlinear large motion and a linear small motion. In this paper, a sequential integration method facilitates the solution of the system equations. This method integrates the large (slow) motion equation explicitly and integrates the small (fast) motion equation implicitly. The simulation results are presented to show the computation efficiency and the flexibility effects.

Copyright © 1991 by The American Society of Mechanical Engineers
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