Dynamic Modeling for a Class of Constrained Planar Two-Link Flexible Manipulators

摘要

Based on the D'Alembert-Lagrange principle,this paper discusses the dynamic modeling problem for a class of constrained planar two-link flexible manipulators,and establishes a set of dynamic equationswhich describe the motion of the robotic systems under discussion. Compared with the present dynamic models for same robotic manipulator systems. The motion equations and vibration equations built up here aremore precise and simpler. Moreover,this dynamic model has a similar configuration with unconstrained rigidlink manipulators,which make the direct or indirect use of the powerful motion control resettles for rigidrobots possible to study the hybrid position/force control of the constrained flexible manipulators.