Parsimonious modelling of link flexibility in a robotic system
(1993) Proceedings of the 2nd IMACS International Symposium on Mathematical and Intelligent Models in System Simulation — Location: Brussels, Belgium (12.April.1993)
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- Abstract
- Using a Hamiltonian approach for a flexible robot arm allows the derivation of a complete distributed parameter model, i.e including equations of motion and boundary conditions. Then a modal expansion based on a finite set of low degree admissible polynomials results into a reduced order lumped parameter model. This approximated model has been validated by comparison with theoretical and experimental results.
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Citations
Jadot, F., Galardini, D., & Gorez, R. (1993). Parsimonious modelling of link flexibility in a robotic system. MIM-S2 ’93. Proceedings of IMACS/IFAC Second Symposium on: Mathematicaland Intelligent Models in System Simulation, Vol. 11, p. 69-74. https://hdl.handle.net/2078.5/228843