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TECHNICAL BRIEFS

Dynamic Response of the Manipulator Tip to a Random Excitation

[+] Author and Article Information
Marek R. Kujath, Unyime O. Akpan

Department of Mechanical Engineering, Technical University of Nova Scotia, Halifax, Nova Scotia, Canada

J. Dyn. Sys., Meas., Control 118(3), 629-632 (Sep 01, 1996) (4 pages) doi:10.1115/1.2801192 History: Received August 16, 1994; Online December 03, 2007

Abstract

The paper describes the tip responses of a flexible articulated manipulator to a stationary random excitation of the base. The expressions for the covariance tensors of the manipulator tip motion are developed in the base and the inertia frame. The singular value decomposition technique is applied for the derivation of expressions for the principal variances. The principal variances are computed and discussed for a wide range of manipulator configurations and damping coefficients.

Copyright © 1996 by The American Society of Mechanical Engineers
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