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This paper presents a systematic procedure for the elastodynamic modeling of industrial robots that is applicable to either serial or parallel manipulators. This procedure is based on a 3-D space generalization of the equivalent rigid link system (ERLS) description, the finite-element method (FEM), and the Lagrange principle. It considers flexible links and(More)
• Generic method to build a linear dynamic model of openchain assembly of spacecraft flexible appendages. The method (Interconnected Flexible Appendage Model [6]) is based on the Craig-Bampton modal synthesis, from which a state-space representation is obtained. Figure 1: Deployable boom from the microsatellite TARANIS • Can be applied to any open(More)
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