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EFFICIENT MODELS FOR FLEXIBLE MANIPULATORS WITH MOTORS AT THE JOINTS
L. Bascetta*, F. Bernasconi**, A. Locatelli* and P. Rocco*
* Politecnico di Milano, Dipartimento di Elettronica e Informazione,
Piazza Leonardo da Vinci, 32, 20133, Milano, Italy
{bascetta, locatelli, rocco}@elet.polimi.it
** SIAE Microelettronica S.p.a., Via Michelangelo, 21, 20093, Cologno
Monzese (Milano), Italy
A computationally efficient recursive algorithm to model flexible manipulators is described in this paper. The dynamic effects, including gyroscopic terms, of the motors at the joints are fully taken into account. Symbolic simplification is used in a newly developed package (FLEXROB), whose performance in detailed reproduction of the dynamic effects due to the interplay between the motors and the flexible links is assessed through simulation.
Keywords: Flexible arms, Dynamic modelling, Simulation, Efficient algorithms, Model approximation
Session slot T-Tu-M04: Flexible and Nonlinear Robots/Area code 1d : Robotics
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