The Equivalent Rigid Link System (ERLS) dynamic model offered a complete representation for the dynamics of flexible manipulators. The equations of motion were separated into a nonlinear large motion and a linear small motion. In this paper, a sequential integration method facilitates the solution of the system equations. This method integrates the large (slow) motion equation explicitly and integrates the small (fast) motion equation implicitly. The simulation results are presented to show the computation efficiency and the flexibility effects.
Issue Section:Technical Briefs
This content is only available via PDF.
Copyright © 1991
by The American Society of Mechanical Engineers