Analysis of multi-link flexible manipulators via asymptotic expansions

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Asymptotic perturbatin methods are employed to extend the results for the complicated case of multilink flexible manipulators. As shown in the one-link case, the dynamics of multilink flexible manipulators also reduce to their rigid body dynamics as a small parameter embedded in the model vanishes. Furthermore, the flexural effect and its coupling to the rigid body dynamics are investigated by appealing to the higher-order terms in the expansion. A two-link flexible manipulator is considered.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2089-2094
Number of pages6
Volume3
StatePublished - 1989
EventProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA
Duration: Dec 13 1989Dec 15 1989

Other

OtherProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3)
CityTampa, FL, USA
Period12/13/8912/15/89

Fingerprint

Flexible manipulators

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Khorrami, F. (1989). Analysis of multi-link flexible manipulators via asymptotic expansions. In Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 2089-2094). Publ by IEEE.

Analysis of multi-link flexible manipulators via asymptotic expansions. / Khorrami, Farshad.

Proceedings of the IEEE Conference on Decision and Control. Vol. 3 Publ by IEEE, 1989. p. 2089-2094.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Khorrami, F 1989, Analysis of multi-link flexible manipulators via asymptotic expansions. in Proceedings of the IEEE Conference on Decision and Control. vol. 3, Publ by IEEE, pp. 2089-2094, Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3), Tampa, FL, USA, 12/13/89.
Khorrami F. Analysis of multi-link flexible manipulators via asymptotic expansions. In Proceedings of the IEEE Conference on Decision and Control. Vol. 3. Publ by IEEE. 1989. p. 2089-2094
Khorrami, Farshad. / Analysis of multi-link flexible manipulators via asymptotic expansions. Proceedings of the IEEE Conference on Decision and Control. Vol. 3 Publ by IEEE, 1989. pp. 2089-2094
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