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Finger Mechanisms for Robotic Hands Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method

Authors : Rasmus Srensen, Mathias Rahbek Iversen, Xuping Zhang

Published in: Recent Advances in Mechanism Design for Robotics

Publisher: Springer International Publishing

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Abstract

This paper presents a new and computationally efficient method for the modelling of flexible robot manipulators. The proposed method avoids the global dynamics by decomposing it to the component dynamics. The component dynamics is established, and is linearized based on the acceleration-based state vector. The transfer matrices for different type of components are created, and the systematic dynamics of a flexible robot manipulator is then established by transferring the state vector from the base to the end-effector without increasing the order of the system matrices. The numerical simulations of a flexible manipulator are conducted for verifying the proposed methodologies.

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Metadata
Title
Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method
Authors
Rasmus Srensen
Mathias Rahbek Iversen
Xuping Zhang
Copyright Year
2015
Book
Recent Advances in Mechanism Design for Robotics

Print ISBN: 978-3-319-18125-7

Electronic ISBN: 978-3-319-18126-4

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18126-4_36

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