Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    6 Downloads (Pure)

    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.
    Original languageEnglish
    Title of host publicationWESIC 2001
    Subtitle of host publicationProceedings 3rd Workshop on European Scientific and Industrial Collaboration
    EditorsJ. van Amerongen, J.B. Jonker, P.P.L. Regtien
    Place of PublicationEnschede, Nederland
    Pages413-422
    Number of pages10
    Publication statusPublished - 27 Jun 2001
    Event3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001 - University of Twente, Enschede, Netherlands
    Duration: 27 Jun 200129 Jun 2001
    Conference number: 3

    Workshop

    Workshop3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001
    Abbreviated titleWESIC
    CountryNetherlands
    CityEnschede
    Period27/06/0129/06/01

    Fingerprint Dive into the research topics of 'Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators'. Together they form a unique fingerprint.

    Cite this