Experimental modeling of a two-link flexible manipulator

被引：0
|
作者：
Riege, B [1 ]
Arteaga, MA [1 ]
机构：
[1] Univ Duisburg Gesamthsch, Dept Measurement & Control, Fac Mech Engn, D-47048 Duisburg, Germany
来源：
SYSTEM STRUCTURE AND CONTROL 1998 (SSC'98), VOLS 1 AND 2 | 1998年
关键词：
modelling; flexible arms; nonlinear systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Modeling of flexible link robot manipulators can be achieved by using the Euler-Lagrange equations of motion, resulting in a closed-form model which strongly depends on the knowlegde of the used mode shapes. In addition, computing the natural frequencies of the manipulator represents a drawback of a pure analytical modeling. In this contribution, a very flexible two-link robot is modeled by using the Euler-Lagrange equations of motion. Once the closed-form model is obtained, all the unknown parameters are determined experimentally. Copyright (C) 1998 IFAC.
引用
收藏
页码：509 / 514
页数：6
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