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Parsimonious modelling of link flexibility in a robotic system

Author

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  • Jadot, F.
  • Galardini, D.
  • Gorez, R.

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.

Suggested Citation

  • Jadot, F. & Galardini, D. & Gorez, R., 1994. "Parsimonious modelling of link flexibility in a robotic system," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 37(2), pages 119-123.
    • Handle: RePEc:eee:matcom:v:37:y:1994:i:2:p:119-123
    DOI: 10.1016/0378-4754(94)90013-2
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