The Dynamic Response of a Flexible Three-Link Robot Using Strain Gages and Lagrange Polynomials

Abstract

A method for modeling elastic robot kinematics is presented in this paper. The method uses the input of strain gages and joint encoders to determine the deflection of the links in in-plane and out-of-plane directions. Torsional flexures also are measured using strain rosettes. This information determines the end effector location which can be then used by the robot controller to damp the robot vibrations.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1991
Accession Number
ADA245250

Entities

People

  • Samaan G. Ladkany

Organizations

  • University of Nevada, Las Vegas

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Cantilever Beams
  • Civil Engineering
  • Computer Simulations
  • Coordinate Systems
  • Differential Equations
  • Dynamic Response
  • Elastic Properties
  • Engineers
  • Equations
  • Hydraulic Actuators
  • Mathematical Models
  • Modulus Of Elasticity
  • New York
  • Strain Gages
  • Stresses

Fields of Study

  • Engineering

Readers

  • Mechanical Engineering/Mechanics of Materials.
  • Robotics and Automation.

Technology Areas

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