Modeling of a flexible manipulator dynamics based upon Holzer's model

Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    12 Citations (Scopus)

    Abstract

    An approach to modeling flexible manipulators consisting of rotary joints and flexible links is proposed in this paper. In the proposed approach, flexible manipulators are modeled by lumped-masses and massless springs on the basis of Holzer's model, which is known as an approximate model for vibration analysis of flexible systems. Due to its simplicity, the constructed model is advantageous to the study of kinematics, dynamics and control strategy of complicated systems such as three dimensional multi-link multi-DOF flexible manipulators. Based on the model, dynamic equations of motion are derived using Lagrange's equation. Kinematics and the relationship between the dynamics of rigid manipulators and flexible manipulators are also discussed. The effectiveness of the model is evaluated by comparing the results of simulation with those of the experiment.

    Original languageEnglish
    Pages223-229
    Number of pages7
    Publication statusPublished - 1996 Dec 1
    EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
    Duration: 1996 Nov 41996 Nov 8

    Other

    OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
    CityOsaka, Jpn
    Period96/11/496/11/8

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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