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dynamic modeling and simulation

Robotica (1)

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Dynamic modeling and simulation of a flexible robotic manipulator
V.O. Gamarra-Rosado, E.A.O. Yuhara
Journal:

Robotica / Volume 17 / Issue 5 / September 1999

Published online by Cambridge University Press:

01 September 1999, pp. 523-528
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This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.