Dynamics of nonrigid articulated robot linkages
作者： R. Judd , D. Falkenburg
关键词: Parallel manipulator 、 Articulated robot 、 Rigid body 、 Kinematics equations 、 Control theory 、 Deformation (mechanics) 、 Link (knot theory) 、 Engineering 、 Kinematics 、 Mechanism (engineering)
摘要: This paper presents the kinematic and dynamic analysis of an n -link manipulator with flexible members. The deformation a link from its rigid body position is modeled by homogeneous transformation. equations are obtained using Euler-Lagrange formulation. These compared to those describing mechanism.
sci-hub.se 参考文章(9)
J. Y. S. Luh, M. W. Walker, R. P. C. Paul, On-Line Computational Scheme for Mechanical Manipulators Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 102, pp. 69- 76 ,(1980) , 10.1115/1.3149599
Richard Paul, Bruce Shimano, Kinematic control equations for simple manipulators conference on decision and control. ,vol. 17, pp. 1398- 1406 ,(1978) , 10.1109/CDC.1978.268148
H. Oz, L. Meirovitch, Optimal Modal-Space Control of Flexible Gyroscopic Systems Journal of Guidance Control and Dynamics. ,vol. 3, pp. 218- 226 ,(1980) , 10.2514/3.55975
J. S. Gibson, An Analysis of Optimal Modal Regulation: Convergence and Stability SIAM Journal on Control and Optimization. ,vol. 19, pp. 686- 707 ,(1981) , 10.1137/0319044
M Vukobratović, Dynamics of active articulated mechanisms and synthesis of artificial motion Mechanism and Machine Theory. ,vol. 13, pp. 1- 18 ,(1978) , 10.1016/0094-114X(78)90010-1
J.N. Aubrun, Theory of the control of structures by low authority controllers Journal of Guidance Control and Dynamics. ,vol. 3, pp. 444- 451 ,(1980) , 10.2514/3.56019
John M. Hollerbach, A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity IEEE Transactions on Systems, Man, and Cybernetics. ,vol. 10, pp. 730- 736 ,(1980) , 10.1109/TSMC.1980.4308393
W. J. Book, Analysis of Massless Elastic Chains With Servo Controlled Joints Journal of Dynamic Systems, Measurement, and Control. ,vol. 101, pp. 187- 192 ,(1979) , 10.1115/1.3426423
J. Denavit, A kinematic notation for lower pair mechanisms based on matrices Trans. of the ASME. Journal of Applied Mechanics. ,vol. 22, pp. 215- 221 ,(1955)