Abstract
For accurate simulations of the dynamic behaviour of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modelled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear time-varying equations. Next, applying a modal reduction technique reduces the number of degrees of freedom. The proportional part of the control system is explicitly included in the modal analysis.
The applicability and efficiency of the method are demonstrated by simulating the controlled trajectory motion of a spatial flexible three-degree of freedom manipulator with PID control.
The applicability and efficiency of the method are 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 | WESIC 2001 |
Subtitle of host publication | Proceedings 3rd Workshop on European Scientific and Industrial Collaboration |
Editors | J. van Amerongen, J.B. Jonker, P.P.L. Regtien |
Place of Publication | Enschede, Nederland |
Pages | 413-422 |
Number of pages | 10 |
Publication status | Published - 27 Jun 2001 |
Event | 3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001 - University of Twente, Enschede, Netherlands Duration: 27 Jun 2001 → 29 Jun 2001 Conference number: 3 |
Workshop
Workshop | 3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001 |
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Abbreviated title | WESIC |
Country/Territory | Netherlands |
City | Enschede |
Period | 27/06/01 → 29/06/01 |