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Modelling of a single-link flexible manipulator system: theoretical and practical investigations

Published online by Cambridge University Press:  09 March 2009

M. O. Tokhi  and
A. K. M. Azad
M. O. Tokhi
Affiliation:
Department of Automatic Control and Systems Engineering, The Univeristy of Sheffield, P.O. Box 600 Mappin Street, Sheffield SI 3JD (UK)
A. K. M. Azad
Affiliation:
Department of Automatic Control and Systems Engineering, The Univeristy of Sheffield, P.O. Box 600 Mappin Street, Sheffield SI 3JD (UK)
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Summary

This paper presents theoretical and experimental investigations into modelling a single-link flexible manipulator system. An analytical model of the manipulator, characterised by an infinite number of modes, is developed using the Lagrange's equation and modal expansion method. This is used to develop equivalent time-domain and frequency-domain working models of the system in state-space and transfer function forms respectively. The model parameters are then estimated experimentally using system's measured input/output data. The model thus obtained is validated through experimentation and results including the effect of payload on system characteristics presented and discussed.

Keywords

Flexible manipulatorModel parametersPayload effectSingle-link system
Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 91 - 102
Copyright
Copyright © Cambridge University Press 1996

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