Research on Dynamic Modeling Method of Single Linkage Flexible Robotic Arm
DOI:
https://doi.org/10.54097/hset.v56i.10695Keywords:
single-link flexible robotic arm; assumed modes method; Lagrange equation.Abstract
In this paper, a dynamics modeling method is proposed for a single-link flexible robotic arm. Firstly, the dynamic equation of the flexible manipulator system is deduced by using the Lagrange equation, secondly, the nonlinear model of the single-link flexible robotic arm is obtained by separating the spatio-temporal variables using the assumed modes method, and the model is verified by the Quanser flexible robotic arm experimental platform. Finally, the model is modified for the dead zone of the actuator found in the experimental process, which improves the accuracy of the model.
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