제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.117-122
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- 1994
Lumped-parameter modeling of flexible manipulator dynamics
- Kim, Jin-Soo (Department of Aeronautis and Space Engineering, Tohoku University) ;
- Konno, Atsushi (Department of Aeronautis and Space Engineering, Tohoku University) ;
- Uchiyama, Masaru (Department of Aeronautis and Space Engineering, Tohoku University) ;
- Usui, Kazuaki (Department of Aeronautis and Space Engineering, Tohoku University) ;
- Yoshimura, Kazuki (Department of Aeronautis and Space Engineering, Tohoku University)
- 발행 : 1994.10.01
초록
In this paper, we discuss the modeling of flexible manipulators. In the modeling of flexible manipulators, there are two approaches: one is based on the distributed-parameter modeling and the other on the lumped-parameter modeling. The former has been applied to control and analysis of simple manipulator requiring precision, while the latter has been applied to multi-link spatial manipulator, because of the model's simplicity. We have already proposed the lumped-parameter modeling method for simple manipulator, and investigate that model of how much degree of precision we can get. The experiments and simulations are performed, comparing these results, the approximate performance of our modeling method is discussed.
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