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A general dynamic model of flexible robot arms for controlHamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.
Document ID
19890066091
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Ding, X. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tarn, T. J. (Washington University Saint Louis, MO, United States)
Bejczy, A. K. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Mechanical Engineering
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation
Location: Scottsdale, AZ
Country: United States
Start Date: May 14, 1989
End Date: May 19, 1989
Accession Number
89A53462
Funding Number(s)
CONTRACT_GRANT: NSF DMC-85-05843
CONTRACT_GRANT: NSF DMC-86-15963
CONTRACT_GRANT: NSF ECS-85-15899
Distribution Limits
Public
Copyright
Other

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