Abstract
The problem of modelling a revolute-joint robotic manipulator with either open or closed chain and flexibility in both the links and the joints is discussed. A kinematic formulation utilizing the Denavit-Hartenberg formalism, modal representation of the link flexible motion and infinitesimal elastically restrained joint rigid motion is developed and used to obtain the dynamic model by the Lagrangian approach. Details of the formulation are shown for a one-link structure. A direct scheme for the control of the motion of the end effector in Cartesian space based on nonlinear inversion of the system is developed. As this scheme requires simulation of the left inverse system, it has to be implemented off-line and to be supplemented by regulator terms to ensure convergence to the desired trajectory in the presence of disturbances and uncertainties.
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© 1989 Springer-Verlag Berlin Heidelberg
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Wehrli, E., Kokkinis, T. (1989). Dynamic Behavior of a Flexible Robotic Manipulator. In: Schweitzer, G., Mansour, M. (eds) Dynamics of Controlled Mechanical Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83581-0_24
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DOI: https://doi.org/10.1007/978-3-642-83581-0_24
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