Stability Analysis of a Robotic Mechanism Using Computer Albegra

M. Golnaraghi, W. Keith and F. C. Moon
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M. Golnaraghi: Cornell University, Theoretical and Applied Mechanics
W. Keith: Cornell University, Theoretical and Applied Mechanics
F. C. Moon: Cornell University, Theoretical and Applied Mechanics

Chapter 13 in Applications of Computer Algebra, 1985, pp 281-292 from Springer

Abstract: Abstract This paper concerns the stability analysis of a two degree of freedom lumped mass model of a robotic mechanism. The equations of motion as well as the Hamiltonian for the system are derived using the symbolic manipulation system MACSYMA. The second order, nonlinear, coupled, ordinary differential equations which govern the system are linearized about a particular operating point. We emphasize the advantage of using MACSYMA to derive this linear system. The regions of flutter and divergence instabilities in a two dimensional parameter space are determined from a quartic characteristic equation. A MACSYMA program is used to perform a root locus study of this equation. A discussion of the application of the results to the control of a mechanical robot is presented.

Keywords: Computer Algebra; Spring Stiffness; Divergence Instability; Dimensional Parameter Space; Lump Mass Model (search for similar items in EconPapers)
Date: 1985
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-1-4684-6888-5_13

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DOI: 10.1007/978-1-4684-6888-5_13

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