Computer Simulation and Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator.

Abstract

Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy is desired in robot system performance it is necessary to consider flexible manipulators. This project simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System dynamic model and experimentally validates the computer simulation results. validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1986
Accession Number
ADA174171

Entities

People

  • Robert P. Petroka

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Acquisition
  • Computer Programming
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Coordinate Systems
  • Differential Equations
  • Equations Of Motion
  • Frequency
  • Hydraulic Actuators
  • Hydraulic Power
  • Kinetic Energy
  • Measurement
  • Mechanical Engineering
  • Robots
  • Strain Gages

Fields of Study

  • Engineering

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy