Abstract
This paper presents a new and computationally efficient method for the modelling of flexible robot manipulators. The proposed method avoids the global dynamics by decomposing it to the component dynamics. The component dynamics is established, and is linearized based on the acceleration-based state vector. The transfer matrices for different type of components are created, and the systematic dynamics of a flexible robot manipulator is then established by transferring the state vector from the base to the end-effector without increasing the order of the system matrices. The numerical simulations of a flexible manipulator are conducted for verifying the proposed methodologies.
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Srensen, R., Iversen, M.R., Zhang, X. (2015). Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_36
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DOI: https://doi.org/10.1007/978-3-319-18126-4_36
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