Discrete-time modeling of flexible robots

摘要

A procedure to derive discrete-time dynamic models of robots having flexible links is presented. Approximate models of one- and two-link robotic manipulators, generated by means of the symbolic algebraic manipulation language MACSYMA, are reported. The approach is based on previous works of the authors concerning the derivation of continuous-time models of elastic robots and discrete-time models of rigid robots.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>