Practical models for practical flexible arms

摘要

A laboratory robot with 3 m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response results for joint motion, link deflection and tip deflection. We conclude that with care the models of an arm can be effective in controller design in spite of hydraulic actuators and non-ideal kinematics and structure.