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Dynamic modeling and simulation of a flexible robotic manipulator

Published online by Cambridge University Press:  01 September 1999

V.O. Gamarra-Rosado and
E.A.O. Yuhara
V.O. Gamarra-Rosado
Affiliation:
Division of Mechanical Engineering, College of Engineering – UNESP 12500–000 Guaratinguetá – São Paulo (Brazil) victor@feg.unesp.br
E.A.O. Yuhara
Affiliation:
Division of Electrical Engineering, College of Engineering – UNESP 12500–000 Guaratinguetá – São Paulo (Brazil)
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Abstract

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This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Keywords

Advanced manufacturing technologiesRoboticsFlexible robotic manipulatorDynamic modeling and simulationVibration active control

Information

Type
Research Article
Information
Robotica , Volume 17 , Issue 5 , September 1999, pp. 523 - 528
Copyright
© 1999 Cambridge University Press