Dynamic characterisation of a single-link flexible manipulator
In this chapter, an analytical model of a single-link flexible manipulator, characterised by a set of infinite number of natural modes, is first developed. This is used to develop state-space and equivalent frequency domain models of the system. These models can further be used for controller design exercises. A case study exercise is presented, where an experimental flexible manipulator system is used for identifying model parameters. The model parameter identification procedure involves spectral analysis of collected input-output data from the experimental system. The identified parameters are then used with the developed model and the model response is verified with the experimental system.
Dynamic characterisation of a single-link flexible manipulator, Page 1 of 2
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