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.File in questo prodotto:
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