Modeling and simulation of nonlinear dynamics in a flexible robot arm

C. F. Kuo; Chen-Yuan Kuo

Modeling and simulation of nonlinear dynamics in a flexible robot arm

C. F. Kuo, Chen-Yuan Kuo

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

Small elastic deformations, beam - shaped links and low motion speeds are often assumed when studying the vibration control problem of a flexible robot arm. These practices make equations of motion linear and simplify control design works. In this paper, the importance of these neglected dynamics on control system's performance is evaluated through computer simulations. It is found that nonlinear dynamics produce noticeable difference only when the arm's stiffness decreases or its operation speed increases beyond levels commonly adopted in industrial operations.

Original language	English (US)
Title of host publication	Active Control of Noise and Vibration - 1992
Publisher	Publ by ASME
Pages	149-156
Number of pages	8
ISBN (Print)	0791810933
State	Published - Dec 1 1992
Event	Winter Annual Meeting of the American Society of Mechanical Engineers - Anaheim, CA, USA Duration: Nov 8 1992 → Nov 13 1992

Publication series

Name	American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume	38

Other

Other	Winter Annual Meeting of the American Society of Mechanical Engineers
City	Anaheim, CA, USA
Period	11/8/92 → 11/13/92

ASJC Scopus subject areas

Software
Mechanical Engineering

Cite this

Modeling and simulation of nonlinear dynamics in a flexible robot arm. / Kuo, C. F.; Kuo, Chen-Yuan.
Active Control of Noise and Vibration - 1992. Publ by ASME, 1992. p. 149-156 (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 38).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kuo, CF & Kuo, C-Y 1992, Modeling and simulation of nonlinear dynamics in a flexible robot arm. in Active Control of Noise and Vibration - 1992. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, vol. 38, Publ by ASME, pp. 149-156, Winter Annual Meeting of the American Society of Mechanical Engineers, Anaheim, CA, USA, 11/8/92.

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Modeling and simulation of nonlinear dynamics in a flexible robot arm

Abstract

Publication series

Other

ASJC Scopus subject areas

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