ホルツァ法に基づくフレキシブルマニピュレータの動力学モデリング
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概要
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In this paper, we discuss the modeling of flexible manipulators. In the modeling of flexible manipulators, there are two approaches: one is based on the distributed-parameter modeling and the other on the lumped-parameter modeling. The distributed-parameter model is effective for simple flexible manipulators such as a one-link planar manipulator. For flexible manipulators with multi-link and multi-DOF (degree-of-freedom), however, the distributed-parameter model will be too complicated to use in control. In this paper, we propose a new model for the flexible manipulators based on the lumped-parameter model. Our model is simple enough to construct and implement in control schemes. This model can also be easily applied to manipulators which have flexibility at their joints. Based on our model, dynamic equations of motion are derived by the Lagrange's method. The effectiveness of our model is shown by comparing simulation results with the experimental results.
- 一般社団法人 日本ロボット学会の論文