Modal Formulations for the Dynamics of Flexible Manipulators and Large Space Structures

  • E. Wehrli
  • P. Coiffet
Conference paper


The Development of high speed and light weight manipulators for robotic tasks as well as the design of flexible articulated large space structures has motivated research work in the field of dynamic modeling and control. A kinematic and dynamic model of serial link flexible arms is presented along with some simulation results. A finite element identification of periodic large truss structures gives some idea about the complexity of the dynamic behavior of typical structures to be deployed in space.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • E. Wehrli
    • 1
  • P. Coiffet
    • 2
  1. 1.O.N.E.R.A., Office National d’ Etudes et de Recherches AérospatialesChatillonFrance
  2. 2.I.N.S.T.N., Laboratoire de RobotiqueUniversité Paris VIParisFrance

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