Dynamics Modeling of Spacial Flexible Manipulator Basing on Absolute Nodal Coordinate Formation

DOI

10.2991/iccmcee-15.2015.126How to use a DOI?

Keywords

Manipulator; Flexible; Absolute coordinate; Dynamics

Abstract

Adopting absolute nodal coordinate method, this article establishes dynamic model of double-connecting rod flexible manipulator. Its broad sense moment is obtained through virtual work principle. State equation is further deducted on this basis and numerical integration method is given. This article adopts PID control strategy to realize circular trace at the end of manipulator and square tracing control. It is discovered from the comparison of absolute nodal coordinate method with traditional hypothesis model that the absolute nodal coordinate method can get a more accurate result.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chao Ma
AU  - Yue Zhang
AU  - Cheng Wei
AU  - Yang Zhao
PY  - 2015/11
DA  - 2015/11
TI  - Dynamics Modeling of Spacial Flexible Manipulator Basing on Absolute Nodal Coordinate Formation
BT  - Proceedings of the 2015 4th International Conference on Computer, Mechatronics, Control and Electronic Engineering
PB  - Atlantis Press
SP  - 700
EP  - 704
SN  - 2352-5401
UR  - https://doi.org/10.2991/iccmcee-15.2015.126
DO  - 10.2991/iccmcee-15.2015.126
ID  - Ma2015/11
ER  -