Abstract
For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear timevarying equations. Next, the number of degrees of freedom is reduced by applying a modal reduction technique. The proportional part of the control system is explicitly included in the modal analysis. The applicability of the method is demonstrated by simulating the controlled trajectory motion of a spatial flexible three-degree of freedom manipulator with PID control.
Original language | English |
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Title of host publication | Proceedings of DETC'01 |
Subtitle of host publication | ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
Editors | D.T. Mook, B. Balachandran |
Place of Publication | Pittsburgh, PA, USA |
Publisher | American Society of Mechanical Engineers (ASME) |
Pages | 1-8 |
Number of pages | 8 |
ISBN (Print) | 0-7918-3531-6 |
Publication status | Published - 9 Sep 2001 |
Event | ASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001 - Pittsburgh, United States Duration: 9 Sep 2001 → 12 Sep 2001 |
Conference
Conference | ASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001 |
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Abbreviated title | DETC |
Country | United States |
City | Pittsburgh |
Period | 9/09/01 → 12/09/01 |
Keywords
- METIS-203071
- IR-90469