Abstract
In this work, a mathematical model is developed to represent the behavior of flexible arm manipulators, and an inverse dynamics technique is proposed to achieve the prescribed motion trajectory and geometrical constraints, accurately. The present technique has the same number of actuators as needed by the corresponding rigid manipulator. A method based on a lagrangian formulation is presented to investigate the dynamics of the above mentioned multi-link manipulators. A finite element model is developed to study the structural behavior of the anns, using the displacements superimposed on the configuration of the rigid body motion as degrees of freedom. The finite element model is combined with the matrix dynamic fonnulation. Regarding the singularities associated with the elastic degrees of freedom, additional states has been utilized such that the dynamical equations can be solved. Hence, an inverse dynamics technique is proposed to calculate the control forces, which are necessary to achieve the prescribed motions, taking into account the flexibility of the arms. A flexible manipulator is then simulated to illustrate the importance of the present analysis. The results illustrate that the rigidity assumption, of the considered manipulator, leads to considerable errors, and the implementation of the proposed approach, on the basis of the present analysis, can realize the desired motions precisely.
Published Version
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