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RESEARCH PAPERS

Efficient Methods for Solving Dynamic Problems of Flexible Manipulators

[+] Author and Article Information
A. M. Sharan, J. Jain, P. Kalra

Memorial University of Newfoundland, St. John’s, Newfoundland, Canada A1B 3X5

J. Dyn. Sys., Meas., Control 114(1), 78-88 (Mar 01, 1992) (11 pages) doi:10.1115/1.2896510 History: Received February 26, 1989; Revised July 30, 1990; Online March 17, 2008

Abstract

In this work, efficient methods for solving dynamic problems in the robotics area are discussed. The nonlinear dynamic equations are derived and their linearization is verified. The unconstrained dynamic problems for a flexible arm robot are solved by four efficient numerical techniques. The constrained problems are solved by Revised Simplex Method and the Karmarkar’s Algorithm.

Copyright © 1992 by The American Society of Mechanical Engineers
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