Abstract
The design of a control system is typically based on a model of the actual plant. The achievable performance is thus intimately related to the modelling accuracy. A popular method for modelling flexible manipulators is the assumed-modes method. However, in order to generate an accurate model with a minimal number of modes, appropriate component mode shapes must be selected. This paper explores the selection of component mode shapes to be used in models for two-link flexible manipulators. The theoretical natural frequencies and system mode shapes predicted by these models are compared to those of the experimental Stanford Multi-Link Flexible Manipulator. Strobe photographs taken to capture the experimental system mode shapes are included.
NSF Fellow, Department of Mechanical Engineering.
Charles Lee Powell Professor and Chairman, Department of Aeronautics and Astronautics.
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© 1990 Springer-Verlag
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Oakley, C.M., Cannon, R.H. (1990). Theory and experiments in selecting mode shapes for two-link flexible manipulators. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042510
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DOI: https://doi.org/10.1007/BFb0042510
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