The problem of modeling flexible robots is considered. The dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bent beams constituting the robot. General properties of the model, such as controllability, are then investigated. To manipulate the cumbersome formulas the SAM language MACSYMA has been extensively used.
Nicosia, S., Tomei, P., Tornambe, A. (1986). Dynamic modelling of flexible robot manipulators. In Proceedings - 1986 IEEE International Conference on Robotics and Automation (pp.365-372). New York, NY, USA : IEEE [10.1109/ROBOT.1986.1087630].
Dynamic modelling of flexible robot manipulators
Nicosia, S.;Tomei, P.;Tornambe, A.
1986-01-01
Abstract
The problem of modeling flexible robots is considered. The dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bent beams constituting the robot. General properties of the model, such as controllability, are then investigated. To manipulate the cumbersome formulas the SAM language MACSYMA has been extensively used.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
