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Dynamic Equations for a Two-Link Flexible Robot Arm

Published

Author(s)

Jonathan W. Lee, B Wang

Abstract

The dynamic equations for a two-link flexible robot arm have been derived rigorously. The arm is moving in the vertical plane. The payload is simulated by attaching additional masses to the arm at any specific locations. Although the governing equations of the system and the measurements are nonlinear, they are explicitly obtained. The control strategy and the general procedures to construct a liner observer and to formulate a control law are discussed.
Citation
Computers and Structures
Volume
29. No 3

Keywords

Control

Citation

Lee, J. and Wang, B. (1988), Dynamic Equations for a Two-Link Flexible Robot Arm, Computers and Structures, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820218 (Accessed June 24, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created December 29, 1988, Updated October 12, 2021