1985•IEEE Transactions on Automatic ControlRequires access

Dynamics of nonrigid articulated robot linkages

R.P. Judd, D. Falkenburg

Abstract

This paper presents the kinematic and dynamic analysis of ann-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

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Key concepts: Kinematics, Link (geometry), Position (finance), Dynamics (music), Mechanism (biology), Robot, Robot kinematics, Computer science