Closed-form control oriented model of highly flexible manipulators

被引：6

作者：

Scaglioni, Bruno ^{[1
,2
]}

Bascetta, Luca ^{[1
]}

Baur, Marco ^{[1
]}

Ferretti, Gianni ^{[1
]}

机构：

[1] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, Piazza Leonardo da Vinci 32, I-20133 Milan, Italy

[2] MUSP Lab, Via Tirotti 9, I-29122 La Mose, Piacenza, Italy

来源：

APPLIED MATHEMATICAL MODELLING | 2017年 / 52卷

关键词：

Flexible manipulators; Newton Euler model; Closed form model; Manipulator control; Dynamics; Flexible multibody; NODAL COORDINATE FORMULATION; DYNAMIC-MODEL; ROBOTS; SYSTEMS; DECOMPOSITION; JOINT;

D O I：

10.1016/j.apm.2017.07.034

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper first presents a highly flexible 3D manipulator with links of arbitrary shape, then develops a closed-form dynamic model that best describes it. The model is based on a Newton-Euler formulation and the substructuring method is used to account for large deformations. The formulation of the motion equations starts from a data set which can be either analytically or numerically computed by finite elements(FE) codes. Simulation has been used to validate the model and compare the results with those of two different multibody software and one experimental, which was obtained from the Multi-Elastic-Link Robot Identification Dataset (MERIt), developed by the TU Dortmund. Then, thanks to the approach here adopted, an integral manifold model is derived, suitable for advanced control system design. (C) 2017 Elsevier Inc. All rights reserved.

引用

页码：174 / 185

页数：12

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