Optimum joint profile for constrained motion of a planar rigid-flexible manipulator

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dc.contributor.authorAta, Atef A.
dc.contributor.authorSalami, Momoh-Jimoh E.
dc.contributor.authorJohar, Habib
dc.date.accessioned2019-11-04T11:51:18Z
dc.date.available2019-11-04T11:51:18Z
dc.date.issued2003-07
dc.description.abstractDynamic system performance of a constrained rigid-flexible manipulator in contact with a circular surface is considered here. A dynamic model with zero tip deformation constraint is derived using extended Hamilton’s principle. An analytical approach for vibration of the flexible link using the assumed modes technique is presented. The effect the force exerted at the end-effector and the required joint torque is investigated through the solution of the inverse dynamics problem. Optimum system performance is suggested for the circular contact surfaces considered in this study using the minimum energy criteria for three joint motion profiles.en_US
dc.identifier.citationAta, A. A., Salami, M. J., & Johar, H. (2003, July). Optimum joint profile for constrained motion of a planar rigid-flexible manipulator. In Proceedings of the 19th International Conference on CAD/CAM Robotic and Factories of the future CARs &FOF (pp. 22-24).en_US
dc.identifier.urihttp://repository.elizadeuniversity.edu.ng/handle/20.500.12398/621
dc.language.isoenen_US
dc.subjectOptimum jointen_US
dc.subjectConstrained motionen_US
dc.subjectPlanar rigid-flexible manipulatoren_US
dc.titleOptimum joint profile for constrained motion of a planar rigid-flexible manipulatoren_US
dc.typeArticleen_US
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