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Approximate minimum-time trajectories for two-link flexible manipulatorsThe method of recursive quadratic programming was used to generate approximate minimum-time tip trajectories for two-link semi-rigid and flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for an n-link, m-joint system with bending only in the horizontal plane. Constraints on the trajectory include boundary conditions on position and energy for a rest-to-rest maneuver, straight-line tracking between boundary positions, and motor torque limits. Trajectory comparisons utilize a change in the link stiffness to compare a semi-rigid configuration to a flexible one. The level of bending flexibility necessary to excite significant modal behavior is demonstrated. Applied torques for minimum-time maneuvers are shown to be very similar between configurations and retain much of the qualitative character of rigid-body slewing motion.
Document ID
19940004714
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Eisler, G. R.
(Sandia National Labs. Albuquerque, NM, United States)
Segalman, D. J.
(Sandia National Labs. Albuquerque, NM, United States)
Robinett, R. D.
(Sandia National Labs. Albuquerque, NM, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1990
Publication Information
Publication: NASA. Langley Research Center, The Third Air Force(NASA Symposium on Recent Advances in Multidisciplinary Analysis and Optimization
Subject Category
Mechanical Engineering
Accession Number
94N71469
Funding Number(s)
CONTRACT_GRANT: DE-AC04-76DP-00789
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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