Dynamic characterisation of a two-link flexible manipulator: theory and experiments
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"Dynamic characterisation of a two-l..." refers background in this paper
...These types of robots are used in a wide spectrum of applications starting from simple pick and place operations of an industrial robot to micro-surgery, maintenance of nuclear plants and space robotics (Dwivedy and Eberhard 2006)....
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372 citations
"Dynamic characterisation of a two-l..." refers background or methods in this paper
...De Luca and Siciliano (1991) have utilised the AMM to derive a dynamic model of multilink flexible robot arms limiting to the case of planar manipulators with no torsional effects....
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...…joints and motion of the manipulator on a two-dimensional plane, the rigid transformation matrix, iA , from Xi-1Yi-1 to Xi Yi can be written as (De Luca and Siciliano 1991, Subudhi and Morris 2002) )cos()sin( )sin()cos( ii ii iA (1) The elastic homogenous transformation matrix, Ei,…...
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...(4) and (5) along with )(1 ii i i i lrp (10) Furthermore, the time derivative of the global transformation matrix iT can be recursively calculated from (De Luca and Siciliano 1991) iiiii ATATT 11 ˆˆ , iiiii ETETT ˆ (11) Computation of iA and iE in Eq....
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211 citations
"Dynamic characterisation of a two-l..." refers background in this paper
...Subudhi and Morris (2002) have also presented a systematic approach for deriving the dynamic equations for n-link manipulator where two-homogenous transformation matrices are used to describe the rigid and flexible motions respectively....
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...…manipulator on a two-dimensional plane, the rigid transformation matrix, iA , from Xi-1Yi-1 to Xi Yi can be written as (De Luca and Siciliano 1991, Subudhi and Morris 2002) )cos()sin( )sin()cos( ii ii iA (1) The elastic homogenous transformation matrix, Ei, due to the deflection of the…...
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143 citations
"Dynamic characterisation of a two-l..." refers methods in this paper
...The numerical analysis methods that are utilised include finite difference and finite element methods (Martins et al. 2003, Tokhi and Mohamed 1999)....
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