Abstract
The unconstrained mode dynamics dimension reduction methods only consider the structural parameters without analyzing the impact of the control force. Due to any control force can be equivalent to the superposition of an infinite number of sinusoidal force by Fourier analysis method, an unconstrained mode selection criteria under sinusoidal force based on the absolute error was presented. The elastic deformation of flexible manipulator was modeled by using the finite element (FE) method. The dynamics model of flexible manipulator was deduced by using the Lagrange approach. The solution of unconstrained mode was used for dimension reduction of the dynamics equations. The dimension reduction of the dynamics equations and the original dynamics equations were compared. Numerical simulations demonstrate the correctness of the proposed approach.
| Original language | English |
|---|---|
| Pages (from-to) | 22-28 |
| Number of pages | 7 |
| Journal | Chinese Space Science and Technology |
| Volume | 32 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 2012 |
| Externally published | Yes |
Keywords
- Absolute error
- Dynamics dimension reduction
- Finite element method
- Flexible manipulator
- Unconstrained mode
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