Symbolic Modeling of Flexible Robotic Manipulators

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/39036

Title: Symbolic Modeling of Flexible Robotic Manipulators
Author: Book, Wayne John ; Cetinkunt, Sabri
Abstract: This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. The advantages of obtaining dynamic equations in symbolic form and of the presented algorithm are discussed. Application of the algorithm to a two-link flexible arm example via a commercially available symbolic manipulation program is presented. Simulation results are given and discussed.
Description: Submitted to the Journal of Dynamic Systems, Measurement, and Control. April 1987.
Type: Pre-print
URI: http://hdl.handle.net/1853/39036
Citation: Cetinkunt, Sabri and Book, Wayne J. Symbolic Modeling of Flexible Robotic Manipulators. Submitted to the Journal of Dynamic Systems, Measurement, and Control. April 1987.
Date: 1987-04
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Subject: Flexible manipulators
Symbolic modelling
Dynamic equations

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