Parsimonious modelling of link flexibility in a robotic system

F. Jadot, D. Galardini and R. Gorez

Mathematics and Computers in Simulation (MATCOM), 1994, vol. 37, issue 2, 119-123

Abstract: Using a Hamiltonean approach for a flexible robot arm allows the derivation of a complete distributed parameter model, i.e. including equations of motion and boundary conditions. Then a modal expansion based on a finite set of low degree admissible polynomials results into a reduced order lumped parameter model. This approximated model has been validated by comparison with theoretical and experimental results.

Date: 1994
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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:37:y:1994:i:2:p:119-123

DOI: 10.1016/0378-4754(94)90013-2

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