INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS

GUO Jifeng, TONG Zhongfang. INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS[J]. ROBOT, 1991, 13(2): 1-9.

Citation:

GUO Jifeng, TONG Zhongfang. INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS[J]. ROBOT, 1991, 13(2): 1-9.

Citation:

GUO Jifeng, TONG Zhongfang. INVERSE DYNAMIC MODELLING OF FLEXIBLE ROBOT ARMS[J]. ROBOT, 1991, 13(2): 1-9.

Abstract

This paper presents for the first time an exact mathematical model of inverse dynamics relations of flexible robot arms. This model is further modified by linearization. Herefrom we get a set of inverse dynamic basic equations of planar n linkage arm. Our method and related theory have been verified by simulation of a 3 linkage arm.

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