Full Content is available to subscribers

Subscribe/Learn More  >

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
  • 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


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



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