Smulation and stability analysis of a nongred two-link robotic arm including the gravity effects

被引：0

作者：

Gamarra-Rosado, V. O.

机构：

来源：

ANNALS OF DAAAM FOR 2004 & PROCEEDINGS OF THE 15TH INTERNATIONAL DAAAM SYMPOSIUM: INTELLIGNET MANUFACTURING & AUTOMATION: GLOBALISATION - TECHNOLOGY - MEN - NATURE | 2004年

关键词：

robotics; dynamic modeling; nonrigid arm; dynamic stability; Liapunov's method;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work presents the dynamic stability analysis and simulation of the nonrigid robotic arm. It is studied according to Liapunov's approximation method of stable criteria. The governing equations are developed based on the finite element method and the elementary beam theory, and linearized round the nominal values of generalized coordinates by the perturbation technique.

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页码：123 / 124

页数：2

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