Analysis of manipulators with flexible joints and links

Research output: Contribution to conferencePaperpeer-review


Analysis and controller design for manipulators exhibiting joint elasticity and link deformation are considered. The model utilized is the nonlinear integro-partial differential equations resulting from the extended Hamiltonian principle. The model takes into account the effects of the centripetal forces, centrifugal stiffening, and the Coriolis, force. Parameters representing the stiffness of the link and the joint compliance are embedded into the dynamics of the manipulator on the basis of which an asymptotic perturbation approach is taken for the analysis of the dynamics. It is shown that the dynamics are resolved to the rigid body motion, the flexural effects, and the elastic forces at the joints by embedding parameters in the model and appealing to the asymptotic perturbation techniques.

Original languageEnglish (US)
Number of pages4
StatePublished - 1989
EventIEEE International Conference on Systems Engineering - Fairborn, OH, USA
Duration: Aug 24 1989Aug 26 1989


OtherIEEE International Conference on Systems Engineering
CityFairborn, OH, USA

ASJC Scopus subject areas

  • General Engineering


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