MOTION EQUATIONS PROPER FOR FORWARD DYNAMICS OF ROBOTIC MANIPULATOR WITH FLEXIBLE LINKS BY USING RECURSIVE GIBBS-APPELL FORMULATION

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KORAYEM M.H.; SHAFEI A.M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Paper Information

Journal: SCIENTIA IRANICA Year:2009 | Volume:16 | Issue:6 (TRANSACTION B: MECHANICAL ENGINEERING) Page(s): 479-495

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Information Journal Paper

Title

MOTION EQUATIONS PROPER FOR FORWARD DYNAMICS OF ROBOTIC MANIPULATOR WITH FLEXIBLE LINKS BY USING RECURSIVE GIBBS-APPELL FORMULATION

Author(s)

KORAYEM M.H. | SHAFEI A.M. | Issue Writer Certificate

Keywords

MANIPULATOR

FLEXIBLE LINK

RECURSIVE

GIBBS-APPELL

COMPLEXITY

Abstract

In this article, a new systematic method for deriving the dynamic equations of motion for exible robotic MANIPULATORs is developed by using the Gibbs-Appall assumed modes method. The proposed method can be applied to the dynamic simulation and control system design of exible robotic MANIPULATORs. In the proposed method, the link defection is described by a truncated modal expansion. All the mathematical operations are done by only 3´3 and 3´1 matrices. Also, all dynamic expressions of a link are expressed in the same link local coordinate system. Based on the developed formulation, an algorithm is proposed that RECURSIVEly and systematically derives the equation of motion, then this method is compared with the RECURSIVE Lagrangian method. As shown, this method is computationally simpler and more efficient and it reduces a large amount of computational COMPLEXITY. Finally, a computational simulation for a MANIPULATOR with two elastic links is presented to verify the proposed method.

Cites

DYNAMIC MODELING OF VISCO-ELASTIC ROBOTIC MANIPULATORS USING TIMOSHENKO BEAM THEORY

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APA: Copy

KORAYEM, M.H., & SHAFEI, A.M.. (2009). MOTION EQUATIONS PROPER FOR FORWARD DYNAMICS OF ROBOTIC MANIPULATOR WITH FLEXIBLE LINKS BY USING RECURSIVE GIBBS-APPELL FORMULATION. SCIENTIA IRANICA, 16(6 (TRANSACTION B: MECHANICAL ENGINEERING)), 479-495. SID. https://sid.ir/paper/289872/en

Vancouver: Copy

KORAYEM M.H., SHAFEI A.M.. MOTION EQUATIONS PROPER FOR FORWARD DYNAMICS OF ROBOTIC MANIPULATOR WITH FLEXIBLE LINKS BY USING RECURSIVE GIBBS-APPELL FORMULATION. SCIENTIA IRANICA[Internet]. 2009;16(6 (TRANSACTION B: MECHANICAL ENGINEERING)):479-495. Available from: https://sid.ir/paper/289872/en

IEEE: Copy

M.H. KORAYEM, and A.M. SHAFEI, “MOTION EQUATIONS PROPER FOR FORWARD DYNAMICS OF ROBOTIC MANIPULATOR WITH FLEXIBLE LINKS BY USING RECURSIVE GIBBS-APPELL FORMULATION,” SCIENTIA IRANICA, vol. 16, no. 6 (TRANSACTION B: MECHANICAL ENGINEERING), pp. 479–495, 2009, [Online]. Available: https://sid.ir/paper/289872/en

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