Abstract
Asymptotic perturbatin methods are employed to extend the results for the complicated case of multilink flexible manipulators. As shown in the one-link case, the dynamics of multilink flexible manipulators also reduce to their rigid body dynamics as a small parameter embedded in the model vanishes. Furthermore, the flexural effect and its coupling to the rigid body dynamics are investigated by appealing to the higher-order terms in the expansion. A two-link flexible manipulator is considered.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2089-2094 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 1989 |
| Event | Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA Duration: Dec 13 1989 → Dec 15 1989 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization