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Efficient Dynamic Models for Flexible Robots


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Dynamic equations of motion of flexible manipulators aremore complicated than those of rigid manipulators. Thenumber of equations of motion increases as the numberof modes to be included increases. It is difficult to understandthe effect of flexible motion on rigid motion viarecursive forms of the equations of motion for multi-linkarm even if it were efficient. On the other hand, the closedform of the equations of motion is useful in understandingthe characteristics of model parameters. However,the equations resulting from existing closed forms are toocomplex to serve this purpose. Therefore, a method whichis structurally well organized and computationally efficientis developed.



Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -



Autor: Lee, Jeh Won - Book, Wayne John - -

Fuente: https://smartech.gatech.edu/



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