A Systematic Formulation of Dynamic Equations for Robotic Manipulators with Elastic Links.
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| Title: | A Systematic Formulation of Dynamic Equations for Robotic Manipulators with Elastic Links. |
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| Authors: | Low, K. H.1 |
| Source: | Journal of Robotic Systems. Jun87, Vol. 4 Issue 3, p435-456. 22p. |
| Subjects: | Manipulators (Machinery), Systems programming (Computer science), Links & link-motion, Inertia (Mechanics), Orienting mechanisms (Manufacturing), Mechanical movements, Industrial robots |
| Abstract: | Although a variety of formulation schemes for the dynamic equations of robot manipulators with rigid links can be found in the literature, an efficient method of the formulation for robot manipulators with elastic links is not well known. Accordingly. this work presents the derivation of the equations of motion for application to mechanical manipulators with elastic links. The formulation is conducted analytically using Hamilton's principle. The resultant equations consist of the terms of inertial. Coriolis. centrifugal, gravitational, and exerted forces. They are expressed in terms of a set of independent generalized coordinates. In contrast to conventional variational approaches, the present method provides an efficient and systematic way for obtaining the compact symbolic equations of flexible manipulator systems. Two examples are presented to illustrate the proposed methodology. Firstly. a three-link flexible manipulator with three revolute joints is studied. A flexible manipulator consisting of a prismatic .joint and a discrete mass is the second model. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Robotic Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 13355593 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: A Systematic Formulation of Dynamic Equations for Robotic Manipulators with Elastic Links. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Low%2C+K%2E+H%2E%22">Low, K. H.</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Robotic+Systems%22">Journal of Robotic Systems</searchLink>. Jun87, Vol. 4 Issue 3, p435-456. 22p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Systems+programming+%28Computer+science%29%22">Systems programming (Computer science)</searchLink><br /><searchLink fieldCode="DE" term="%22Links+%26+link-motion%22">Links & link-motion</searchLink><br /><searchLink fieldCode="DE" term="%22Inertia+%28Mechanics%29%22">Inertia (Mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Orienting+mechanisms+%28Manufacturing%29%22">Orienting mechanisms (Manufacturing)</searchLink><br /><searchLink fieldCode="DE" term="%22Mechanical+movements%22">Mechanical movements</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Although a variety of formulation schemes for the dynamic equations of robot manipulators with rigid links can be found in the literature, an efficient method of the formulation for robot manipulators with elastic links is not well known. Accordingly. this work presents the derivation of the equations of motion for application to mechanical manipulators with elastic links. The formulation is conducted analytically using Hamilton's principle. The resultant equations consist of the terms of inertial. Coriolis. centrifugal, gravitational, and exerted forces. They are expressed in terms of a set of independent generalized coordinates. In contrast to conventional variational approaches, the present method provides an efficient and systematic way for obtaining the compact symbolic equations of flexible manipulator systems. Two examples are presented to illustrate the proposed methodology. Firstly. a three-link flexible manipulator with three revolute joints is studied. A flexible manipulator consisting of a prismatic .joint and a discrete mass is the second model. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Robotic Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 22 StartPage: 435 Subjects: – SubjectFull: Manipulators (Machinery) Type: general – SubjectFull: Systems programming (Computer science) Type: general – SubjectFull: Links & link-motion Type: general – SubjectFull: Inertia (Mechanics) Type: general – SubjectFull: Orienting mechanisms (Manufacturing) Type: general – SubjectFull: Mechanical movements Type: general – SubjectFull: Industrial robots Type: general Titles: – TitleFull: A Systematic Formulation of Dynamic Equations for Robotic Manipulators with Elastic Links. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Low, K. H. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 06 Text: Jun87 Type: published Y: 1987 Identifiers: – Type: issn-print Value: 07412223 Numbering: – Type: volume Value: 4 – Type: issue Value: 3 Titles: – TitleFull: Journal of Robotic Systems Type: main |
| ResultId | 1 |
