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Modelling of flexible link manipulators

  1. Clementina Mladenova*,
  2. Ivan Rashkov

Article first published online: 24 NOV 2004

DOI: 10.1002/pamm.200410063

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PAMM

PAMM

Volume 4, Issue 1, pages 163–164, December 2004

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How to Cite

Mladenova, C. and Rashkov, I. (2004), Modelling of flexible link manipulators. Proc. Appl. Math. Mech., 4: 163–164. doi: 10.1002/pamm.200410063

Author Information

  1. Institute of Mechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev Str., Block 4. Sofia 1113, Bulgaria

*Phone: +35 92 979 6418, Fax: +35 92 870 7498

Publication History

  1. Issue published online: 24 NOV 2004
  2. Article first published online: 24 NOV 2004

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Abstract

The purpose of this work is to present a method for symbolic generation of the dynamic equations within the Hamiltonian formalism of flexible robots with open-chain linkage mechanisms using the so-called vector-parameterization of the SO(3) group as it is quite effective for many rotational degrees-of-freedom. The both, an exact treatment and approximated model of the differential equations of motion are considered. The authors step on their long experience of using the vector-parameterization for modelling of rigid body mechanical systems. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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