Dynamic modelling of a two link flexible robot and experimental validation
Dynamic modelling of a two link flexible robot and experimental validation
复制标题
二连杆柔性机器人动力学建模及实验验证
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
L. Zaccarian
中科院分区：
文献类型：
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作者：
S. Nicosia;P. Valigi;L. Zaccarian
The paper discusses the modelling issues for a two link flexible robot arm. The exact dynamic model of the robot arm is derived, and approximate forms suitable for the analysis and control design are proposed. The approach used here to derive an approximate finite dimensional model of the flexible robot arm is based on the Ritz expansion method. Simulations and experimental tests have been carried out to validate the approximate dynamic model of the robot.
