Abstract
The paper discusses modelling issues for a two link flexible robot arm. The exact dynamic model of the robot arm is derived, and approximate forms suitable for analysis and control design are also 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.
Cite
CITATION STYLE
Nicosia, S., Valigi, P., & Zaccarian, L. (1996). Dynamic modelling of a two link flexible robot and experimental validation. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 1953–1958). IEEE. https://doi.org/10.1109/robot.1996.506158
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