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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
doi:10.1115/DETC2007-35000
From:
  • 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

abstract

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

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