Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload

• Main Author: Mohd Ashraf, Ahmad
• Format: Conference or Workshop Item
• Language: English
• Published: 2008
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/2441/1/Dynamic_Modelling_of_a_Two-link_Flexible.pdf; http://umpir.ump.edu.my/id/eprint/2441/; http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=4582658&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3D3rd+IEEE+Conference+on+Industrial+Electronics+and+Applications%2C+2008.+ICIEA+2008

This paper presents dynamic modelling of a twolink flexible manipulator based on closed-form equations of motion. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. The Lagrangian appro...