ON THE METHOD OF LINEARIZING DYNAMIC-MODEL AND SOLVING FORWARD DYNAMIC PROBLEMS OF FLEXIBLE ROBOTS

Authors
GUO JF TONG ZF
Citation
Jf. Guo et Zf. Tong, ON THE METHOD OF LINEARIZING DYNAMIC-MODEL AND SOLVING FORWARD DYNAMIC PROBLEMS OF FLEXIBLE ROBOTS, International journal of robotics & automation, 10(1), 1995, pp. 11-17
Citations number
8
Categorie Soggetti
Robotics & Automatic Control
Journal title
International journal of robotics & automation → ACNP
ISSN journal
08268185
Volume
10
Issue
1
Year of publication
1995
Pages
11 - 17
Database
ISI
SICI code
0826-8185(1995)10:1<11:OTMOLD>2.0.ZU;2-P
Abstract
In this paper, a new way of linearizing the dynamic model of flexible robot is put forward. Based on linearization of the kinematic model, d ecoupled time-variant linear differential equations with only microvar iables as generalized coordinates are deduced from general dynamic equ ations. The numerical computation of a three-link flexible robot arm f or the forward dynamic problems is also carried out. The performance a nd capabilities of this method are tested through simulation analysis.