On the Properties of a Dynamic Model of Flexible Robot Manipulators

[+] Author and Article Information
Marco A. Arteaga

Universität Duisburg, Germany

J. Dyn. Sys., Meas., Control 120(1), 8-14 (Mar 01, 1998) (7 pages) doi:10.1115/1.2801326 History: Received February 24, 1997; Online December 03, 2007


Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

Copyright © 1998 by The American Society of Mechanical Engineers
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