Dynamic modelling of a two-link flexible manipulator system incorporating payload

@article{Ahmad2008DynamicMO,
  title={Dynamic modelling of a two-link flexible manipulator system incorporating payload},
  author={M. Ayaz Ahmad and Zaouche Mohamed and Najidah Hambali},
  journal={2008 3rd IEEE Conference on Industrial Electronics and Applications},
  year={2008},
  pages={96-101}
}
This paper presents dynamic modelling of a two-link flexible manipulator based on closed-form equations of motion. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. The Lagrangian approach is used to derive the dynamic model of the structure. Links are modelled as Euler-Bernoulli beams with proper clamped-mass boundary conditions. A dynamic model of the system, incorporating structural… CONTINUE READING
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