Dynamic modeling and simulation of a flexible robotic manipulator

Authors:
V. O. Gamarra-rosado;E. A. O. Yuhara
Affiliations:
Division of Mechanical Engineering, College of Engineering – UNESP 12500–000 Guaratinguetá – São Paulo (Brazil) victor@feg.unesp.br;Division of Electrical Engineering, College of Engineering – UNESP 12500–000 Guaratinguetá – São Paulo (Brazil)
Venue:
Robotica
Year:
1999

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Abstract

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.