Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator

[+] Author and Article Information
R. P. Petroka

Supervisor of Shipbuilding, Bath, Maine 04011

Liang-Wey Chang

Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA 93943-5000

J. Dyn. Sys., Meas., Control 111(4), 667-672 (Dec 01, 1989) (6 pages) doi:10.1115/1.3153111 History: Received June 01, 1987; Online July 21, 2009


Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

Copyright © 1989 by ASME
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