Abstract
A mathematical modeling problem for certain single flexible-link robot arms is investigated. The mathematical model that we proposed is based on Timoshenko's theory, with suitable initial-terminal and boundary conditions established for the model. Solution formulas for the kinematics (the hubangle, tip-position, and deflection) and dynamics (the control torque input of the link) of the robot arm model are derived. Computer simulation results are shown and compared to some existing experimental results, which convince that the modeling on the kinematics and dynamics of the robot arm are both correct and accurate.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the First IEEE Conference on Control Applications |
| Publisher | IEEE |
| Pages | 288-293 |
| ISBN (Print) | 0780300475, 9780780300477 |
| DOIs | |
| Publication status | Published - Sept 1992 |
| Externally published | Yes |
| Event | 1st IEEE Conference on Control Applications (CCA 1992) - Dayton, United States Duration: 13 Sept 1992 → 16 Sept 1992 https://ieeexplore.ieee.org/xpl/conhome/554/proceeding |
Publication series
| Name | Proceedings of the IEEE Conference on Control Applications, CCA |
|---|
Conference
| Conference | 1st IEEE Conference on Control Applications (CCA 1992) |
|---|---|
| Place | United States |
| City | Dayton |
| Period | 13/09/92 → 16/09/92 |
| Internet address |
Fingerprint
Dive into the research topics of 'Mathematical Modeling for Kinematics and Dynamics of Certain Single Flexible-Link Robot Arms'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver