Method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems

Antonios Tzes, Stephen Yurkovich, F. Dieter Langer

    Research output: Contribution to conferencePaper

    Abstract

    An efficient numerical method for solving the partial differential equation (PDE) governing the flexible manipulator control dynamics is presented. A finite-dimensional model of the equation is obtained through discretization in both time and space coordinates by using finite-difference approximations to the PDE. An expert program written in the Macsyma symbolic language is utilized in order to embed the boundary conditions into the program, accounting for a mass carried at the tip of the manipulator. The advantages of the proposed algorithm are many, including the ability to 1) include any distributed actuation term in the partial differential equation, 2) provide distributed sensing of the beam displacement, 3) easily modify the boundary conditions through an expert program, and 4) modify the structure for running under a multiprocessor environment.

    Original languageEnglish (US)
    Pages557-560
    Number of pages4
    StatePublished - Dec 1 1989
    EventIEEE International Conference on Systems Engineering - Fairborn, OH, USA
    Duration: Aug 24 1989Aug 26 1989

    Other

    OtherIEEE International Conference on Systems Engineering
    CityFairborn, OH, USA
    Period8/24/898/26/89

    Fingerprint

    Partial differential equations
    Robotics
    Boundary conditions
    Flexible manipulators
    Manipulators
    Numerical methods

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Tzes, A., Yurkovich, S., & Langer, F. D. (1989). Method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems. 557-560. Paper presented at IEEE International Conference on Systems Engineering, Fairborn, OH, USA, .

    Method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems. / Tzes, Antonios; Yurkovich, Stephen; Langer, F. Dieter.

    1989. 557-560 Paper presented at IEEE International Conference on Systems Engineering, Fairborn, OH, USA, .

    Research output: Contribution to conferencePaper

    Tzes, A, Yurkovich, S & Langer, FD 1989, 'Method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems' Paper presented at IEEE International Conference on Systems Engineering, Fairborn, OH, USA, 8/24/89 - 8/26/89, pp. 557-560.
    Tzes A, Yurkovich S, Langer FD. Method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems. 1989. Paper presented at IEEE International Conference on Systems Engineering, Fairborn, OH, USA, .
    Tzes, Antonios ; Yurkovich, Stephen ; Langer, F. Dieter. / Method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems. Paper presented at IEEE International Conference on Systems Engineering, Fairborn, OH, USA, .4 p.
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