Modeling and simulation of nonlinear dynamics in a flexible robot arm

C. F. Kuo, Chen-Yuan Kuo

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

6 Scopus citations

Abstract

Small elastic deformations, beam - shaped links and low motion speeds are often assumed when studying the vibration control problem of a flexible robot arm. These practices make equations of motion linear and simplify control design works. In this paper, the importance of these neglected dynamics on control system's performance is evaluated through computer simulations. It is found that nonlinear dynamics produce noticeable difference only when the arm's stiffness decreases or its operation speed increases beyond levels commonly adopted in industrial operations.

Original languageEnglish (US)
Title of host publicationActive Control of Noise and Vibration - 1992
PublisherPubl by ASME
Pages149-156
Number of pages8
ISBN (Print)0791810933
StatePublished - Dec 1 1992
EventWinter Annual Meeting of the American Society of Mechanical Engineers - Anaheim, CA, USA
Duration: Nov 8 1992Nov 13 1992

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume38

Other

OtherWinter Annual Meeting of the American Society of Mechanical Engineers
CityAnaheim, CA, USA
Period11/8/9211/13/92

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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