Modeling of Flexible Robot-Payload Systems Through Component Synthesis

[+] Author and Article Information
T. Zhou, J. W. Zu, A. A. Goldenberg

Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8

J. Dyn. Sys., Meas., Control 122(2), 381-386 (Jan 12, 1998) (6 pages) doi:10.1115/1.482477 History: Received January 12, 1998
Copyright © 2000 by ASME
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A typical flexible robot-payload system
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Coordinate systems and vector relations
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Tip responses for small rigid-body motion case
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Payload responses versus locations of contact points
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Nominal trajectory of the system with large rigid-body motion
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Tip deflections for large rigid-body motion case
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Model comparison: Tip vibration magnitudes versus rotations of joint 3




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