Dynamic modelling of a two-link flexible manipulator system incorporating payload

• Main Authors: Ahmad, M. A., Mohamed, Zaharuddin, Hambali, N.
• Format: Conference or Workshop Item
• Language: English
• Published: 2008
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/7738/1/Zaharuddin_Mohamed_2008_Dynamic_Modelling_of_a_Two-link.pdf; http://eprints.utm.my/id/eprint/7738/; http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=4582487&isnumber=4582468&punumber=4570851&k2dockey=4582487@ieeecnfs&query=((dynamic+modelling+of+a+two-link+flexible+manipulator+system+incorporating+payload)%3Cin%3Emetadata)&pos=0&access=no

This paper presents dynamic modelling of a two-link 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 approach...