Dynamics of nonrigid articulated robot linkages |
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Authors: | Judd R. Falkenburg D. |
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Affiliation: | Oakland University, Rochester, MI, USA; |
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Abstract: | This paper presents the kinematic and dynamic analysis of ann-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism. |
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