IDEAS home Printed from https://ideas.repec.org/h/spr/sprchp/978-1-4684-6888-5_13.html
   My bibliography  Save this book chapter

Stability Analysis of a Robotic Mechanism Using Computer Albegra

In: Applications of Computer Algebra

Author

Listed:
  • 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)

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.

Suggested Citation

  • M. Golnaraghi & W. Keith & F. C. Moon, 1985. "Stability Analysis of a Robotic Mechanism Using Computer Albegra," Springer Books, in: Richard Pavelle (ed.), Applications of Computer Algebra, chapter 13, pages 281-292, Springer.
    • Handle: RePEc:spr:sprchp:978-1-4684-6888-5_13
    DOI: 10.1007/978-1-4684-6888-5_13
    as

    Download full text from publisher

    To our knowledge, this item is not available for download. To find whether it is available, there are three options:
    1. Check below whether another version of this item is available online.
    2. Check on the provider's web page whether it is in fact available.
    3. Perform a
    for a similarly titled item that would be available.

    More about this item

    Keywords

    ;
    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:spr:sprchp:978-1-4684-6888-5_13. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Sonal Shukla or Springer Nature Abstracting and Indexing (email available below). General contact details of provider: http://www.springer.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.