A procedure to derive discrete-time dynamic models of robots having flexible links is presented. Approximate models of one- and two-link robotic manipulators, generated by means of the symbolic algebraic manipulation language MACSYMA, are reported. The approach is based on previous works of the authors concerning the derivation of continuous-time models of elastic robots and discrete-time models of rigid robots.

Nicosia, S., Tomei, P., Tornambe, A. (1990). Discrete-time modeling of flexible robots. In Proceedings of the IEEE Conference on Decision and Control (pp.539-544). Piscataway, NJ, United States : IEEE [10.1109/CDC.1990.203655].

Discrete-time modeling of flexible robots

Nicosia, S.;Tomei, P.;Tornambe, A.
1990-01-01

Abstract

A procedure to derive discrete-time dynamic models of robots having flexible links is presented. Approximate models of one- and two-link robotic manipulators, generated by means of the symbolic algebraic manipulation language MACSYMA, are reported. The approach is based on previous works of the authors concerning the derivation of continuous-time models of elastic robots and discrete-time models of rigid robots.
Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6)
Honolulu, HI, USA, null
1990
IEEE Control Systems Soc
Rilevanza internazionale
1990
Settore ING-INF/04 - AUTOMATICA
English
Chemical Health and Safety; Control and Systems Engineering; Safety, Risk, Reliability and Quality
Intervento a convegno
Nicosia, S., Tomei, P., Tornambe, A. (1990). Discrete-time modeling of flexible robots. In Proceedings of the IEEE Conference on Decision and Control (pp.539-544). Piscataway, NJ, United States : IEEE [10.1109/CDC.1990.203655].
Nicosia, S; Tomei, P; Tornambe, A
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193871
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