Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

Publikation: Forskning - peer reviewTidsskriftartikel

Standard

Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method. / Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias ; li, haijie.

I: Robotics and Computer-Integrated Manufacturing, Vol. 49, Nr. 2, 02.2018, s. 181-193.

Publikation: Forskning - peer reviewTidsskriftartikel

Harvard

Zhang, X, Sørensen, R, RahbekIversen, M & li, H 2018, 'Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method' Robotics and Computer-Integrated Manufacturing, vol 49, nr. 2, s. 181-193.

APA

Zhang, X., Sørensen, R., RahbekIversen, M., & li, H. (2018). Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method. Robotics and Computer-Integrated Manufacturing, 49(2), 181-193.

CBE

Zhang X, Sørensen R, RahbekIversen M, li H. 2018. Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method. Robotics and Computer-Integrated Manufacturing. 49(2):181-193.

MLA

Vancouver

Zhang X, Sørensen R, RahbekIversen M, li H. Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method. Robotics and Computer-Integrated Manufacturing. 2018 feb;49(2):181-193.

Author

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias ; li, haijie / Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method.

I: Robotics and Computer-Integrated Manufacturing, Vol. 49, Nr. 2, 02.2018, s. 181-193.

Publikation: Forskning - peer reviewTidsskriftartikel

Bibtex

@article{596675ece5334c62b4fe2658bd799975,
title = "Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method",
abstract = "This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size of the final system dynamic equations does not increase with the number of joints or the number of link beam elements that each link is decomposed. The developed method intends to avoid the traditional computation of the global system dynamic equations that usually have large size for flexible robot manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies.",
author = "Xuping Zhang and Rasmus Sørensen and Mathias RahbekIversen and haijie li",
year = "2018",
month = "2",
volume = "49",
pages = "181--193",
journal = "Robotics and Computer-Integrated Manufacturing",
issn = "0736-5845",
publisher = "Pergamon Press",
number = "2",

}

RIS

TY - JOUR

T1 - Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

AU - Zhang,Xuping

AU - Sørensen,Rasmus

AU - RahbekIversen,Mathias

AU - li,haijie

PY - 2018/2

Y1 - 2018/2

N2 - This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size of the final system dynamic equations does not increase with the number of joints or the number of link beam elements that each link is decomposed. The developed method intends to avoid the traditional computation of the global system dynamic equations that usually have large size for flexible robot manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies.

AB - This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size of the final system dynamic equations does not increase with the number of joints or the number of link beam elements that each link is decomposed. The developed method intends to avoid the traditional computation of the global system dynamic equations that usually have large size for flexible robot manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies.

M3 - Journal article

VL - 49

SP - 181

EP - 193

JO - Robotics and Computer-Integrated Manufacturing

T2 - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

SN - 0736-5845

IS - 2

ER -