Mathematical modeling for kinematics and dynamics of certain single flexible-link robot arms

摘要

A mathematical modeling problem for certain single flexible-link robot arms is investigated. The mathematical model proposed is based on Timoshenko's theory, with suitable initial-terminal and boundary conditions. Formulas for the kinematics (the hub angle, tip position, and deflection) and dynamics (the control torque input of the link) of the robot arm model are derived. Computer simulation results are shown and compared to some existing experimental results, confirming that the modeling of the kinematics and dynamics of the robot arm is both correct and accurate.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>