Symbolic modeling of flexible manipulatorsAn algorithm is presented to symbolically derive the full nonlinear dynamic equations of motion of multilink flexible manipulators. Lagrange's assumed modes method is the basis of new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm by means of a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.
Document ID
19880055523
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Cetinkunt, Sabri (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J. (Georgia Institute of Technology Atlanta, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1987
Subject Category
Mechanical Engineering
Meeting Information
Meeting: 1987 IEEE International Conference on Robotics and Automation