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Modeling of the Rotational Dynamics of a Flexible Manipulator Using FMBS to Derive a Linear Parameter Varying System

[+] Author Affiliations
Karl Lukas Knierim, Matthias Gruhler, Oliver Sawodny

University of Stuttgart, Stuttgart, Germany

Paper No. IMECE2012-87624, pp. 1105-1113; 9 pages
doi:10.1115/IMECE2012-87624
From:
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME

abstract

This paper deals with the derivation of the rotational dynamic matrix of a flexible large scale manipulator in the horizontal plane using the flexible multi body systems (FMBS) frame-work. It is shown, that the dynamic matrix only depends on the pose of the manipulator itself. The nonlinear dynamics of the FMBS system can be simplified and rewritten in the form of a linear parameter varying system, which can be used in the controller synthesis. The approach is exemplified at a large scale flexible link manipulator, with a range of approximately 13m, which is currently under development as a tool for ordnance and IED clearing.

Copyright © 2012 by ASME

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