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Dynamic characterisation of a flexible manipulator system

Published online by Cambridge University Press:  29 August 2001

M.O. Tokhi,
Z. Mohamed and
M.H. Shaheed
M.O. Tokhi
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD (UK). E-mail: o.tokhi@sheffield.ac.uk
Z. Mohamed
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD (UK). E-mail: o.tokhi@sheffield.ac.uk
M.H. Shaheed
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD (UK). E-mail: o.tokhi@sheffield.ac.uk
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Abstract

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This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods. The flexural and rigid dynamics of the system as well as inertia effects and structural damping are accounted in the model. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig. Experimental results are presented for validation of the developed finite element model in the time and frequency domains.

Keywords

Flexible manipulator systemDynamic modellingFinite elements methods

Information

Type
Research Article
Information
Robotica , Volume 19 , Issue 5 , September 2001, pp. 571 - 580
Copyright
© 2001 Cambridge University Press