An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control.
Issue Section:
Vibration and Sound
This content is only available via PDF.
Copyright © 1990
by The American Society of Mechanical Engineers
You do not currently have access to this content.
