On the modeling of flexible-link robots: First experimental validation of an ERLS-FEM dynamic model

2013 ◽  
Author(s):  
P. Boscariol ◽  
A. Gasparetto ◽  
M. Giovagnoni ◽  
A. K. Moosavi ◽  
R. Vidoni
Keyword(s):  
Dynamic Model ◽  
Experimental Validation ◽  
Flexible Link ◽  
Flexible Link Robots

New Dynamic Modeling of Flexible-Link Robots

2003 ◽  
Vol 127 (2) ◽  
pp. 307-309 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Rotational Motion ◽  
Nonlinear Dynamic ◽  
Flexible Link ◽  
Nonlinear Dynamic Model ◽  
Flexible Links ◽  
Lagrangian Modeling ◽  
Bending Mechanism ◽  
Flexible Link Robots

This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows free link elongation in addition to link deflection; the link elongation increases as link deflection increases. The link elongation, however, causes certain degrees of modeling inaccuracy in association with the rotational motion of the links. Therefore, this paper proposes a new link deflection model, compatible with the bending mechanism of flexible links. Then a new nonlinear dynamic model is derived based on the new link deflection model, fixing the modeling inaccuracy of the conventional dynamic model.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

Experimental validation of a 2 degrees of freedom whisker sensor dynamic model

2011 ◽  
Vol 44 (1) ◽  
pp. 3148-3152 ◽  
Author(s):  
Claudia F Castillo-Berrio ◽  
Vicente Feliu Batlle ◽  
Fernando J Castillo-Garcia
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Experimental Validation

scholarly journals Development and Experimental Validation of a Dynamic Model for a Fresnel Solar Collector

2011 ◽  
Vol 44 (1) ◽  
pp. 483-488 ◽  
Author(s):  
María Robledo ◽  
Juan M. Escaño ◽  
Amparo Núñez ◽  
Carlos Bordons ◽  
Eduardo F. Camacho
Keyword(s):  
Dynamic Model ◽  
Solar Collector ◽  
Experimental Validation
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