Full Content is available to subscribers

Subscribe/Learn More  >

Modeling Method for Elastic Multibody Systems With Arbitary Boundary Conditions by Using Extended Reduced Order Physical Model and Its Application to a Two-Link Flexible Robot Arm

[+] Author Affiliations
Masahiko Aki, Toru Watanabe, Kazuto Seto

Nihon University, Tokyo, Japan

Paper No. DETC2007-35000, pp. 1081-1090; 10 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


This paper deals with the effectiveness of Extended Reduced Order Physical Model (EROPM) for elastic multibody systems with arbitrary boundary conditions. A novel formulation is applied to the modeling of a two-link flexible robot arm. Flexible links are modeled by using the proposed modeling method. The two-link flexible robot arm model is derived by connecting these flexible links. LQI control theory is applied for the control of the two-link flexible robot arm. The effectiveness of “EROPM with arbitrary boundary condition” is shown through simulation and experimental results.

Copyright © 2007 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In