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On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs
Zribi, Sameh; Tlijani, Hatem; Knani, Jilani; Puig Cayuela, Vicenç
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
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The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Manipulators (Mechanism)
Robots--Control systems
Flexible arm
manipulator
Rigid-flexible robot
dynamic modelling
trajectory generation
motion profile
Robots mòbils
Robots -- Sistemes de control
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
         

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