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  • 1
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    Manipulator interactive design with interconnected flexible elements (1983)
    In:  Other Sources
    Details
    Publication Date: 2011-08-18
    Description: This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.
    Keywords: CYBERNETICS
    Format: text
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  • 2
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    Computationally efficient algorithm for the dynamics of multi-link mechanisms (1989)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: A computationally efficient algorithm for the dynamics of multi-rigid-link mechanisms is presented which is applicable to on-board processing for robotic manipulator control systems. A formulation of the equations of motion for such systems is presented which results in a solution algorithm of the order the number of system degrees of freedom. The formulation is presented for tree topology systems, where the chain topology of typical manipulators is a subset. Comparison of this algorithm is made with existing multibody simulation programs to illustrate the increased computational efficiency.
    Keywords: CYBERNETICS
    Type: AIAA PAPER 89-3527 , AIAA Guidance, Navigation and Control Conference; Aug 14, 1989 - Aug 16, 1989; Boston, MA; United States
    Format: text
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