Perturbation Techniques for Flexible Manipulators

Timoshenko Beam Theory based Dynamic Modeling of Lightweight Flexible Link Robotic Manipulators

“…In order to obtain a set of ordinary differential equations (ODEs) of motion to adequately describe the dynamics of the flexible link manipulator, the Hamilton's or Lagrange's approach combined with the Assumed Modes Method (AMM) (Fraser & Daniel, 1991;Loudini et al 2006;Loudini et al 2007a;Loudini et al 2007b;Tokhi & Azad, 2008) can be used.…”

Experimental verification of the corrected transfer function of a piezoelectric laminate beam

“…1(c) are: and . One way of solving (1) is to expand as an infinite series in the form [14] (2) where are the eigenfunctions satisfying the ordinary differential equations, resulting from the substitution of (2) into (1) and its associated boundary conditions.…”

Joint acceleration feedback control for robots: analysis, sensing and experiments

“…The transfer function from the actuated torque input to the linear accelerometer output of the link i can be derived as [19] …”