Computer simulation and experimental validation of a dynamic model (equivalent rigid link system)--on a single-link flexible manipulator.

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Author
Petroka, Robert P.
Date
1986-06Advisor
Chang, Liang-Wey
Second Reader
Smith, David L.
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Show full item recordAbstract
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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