Dynamic modelling of flexible robot manipulators

摘要

The problem of modeling flexible robots is considered. The dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bended beams constituting the robot. General properties of the models, as controllability, are then investigated. To manipulate the cumbersome formulae the SAM language MACSYMA has been extensively used.