Analysis of multi-link flexible manipulators via asymptotic expansions

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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 languageEnglish (US)
Pages (from-to)2089-2094
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1989
EventProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA
Duration: Dec 13 1989Dec 15 1989

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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