Linear Analytical Modelling of a Flexible Robot Arm for Control Applications

an investigation into linear Analytical modelling of a single link flexible manipulator system is presented. Simplicity vs. accuracy is considered in modelling process. The model constructed using extended Hamilton- Assumed mode method in state space form. Due to its simplicity, the constructed model is advantageous to the study of dynamic and various control strategy from control point of view. The effectiveness of the model is evaluated using simulation considering bang-bang input torque.

کلیدواژه ها:

Flexible manipulator ، extended Hamilton’s principle ، assumed mode method