Carnegie Mellon University
Modeling of a 3-D Light-Weight Space Manipulator

Michihiro Uenohara and Yangsheng Xu
tech. report CMU-RI-TR-91-08, Robotics Institute, Carnegie Mellon University, April, 1991

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This report addresses the problem of modeling a 3-D flexible robot. First, the flexibility of each link is modeled by a lumped system assuming the bending deflection is not too large compared to the length of the link. Then the kinematics of a serial-chain flexible mechanism is obtained by using transform of rigid coordinates and flexible coordinates. The flexible coordinates frame is defined to represent deflections of each link. Based on the kinematics, overall dynamics is derived by Lagrangian method. To obtain transfer functions from the joint torque to the tip displacements, the inertial matrix must be invertible. We defined a set of new variables by which the inertial matrix is invertible. This provides a general approach for modeling a large class of multi-joint flexible robot, and the resultant model is simple to be implemented in real-time model-based control. Vibration experiments have been performed on the laboratory 3-D flexible model, and the experimental results have been compared to the analytical results.

Grant ID: N00014-81-0503, N00014-90-J-1656
Number of pages: 19

Text Reference
Michihiro Uenohara and Yangsheng Xu, "Modeling of a 3-D Light-Weight Space Manipulator," tech. report CMU-RI-TR-91-08, Robotics Institute, Carnegie Mellon University, April, 1991

BibTeX Reference
   author = "Michihiro Uenohara and Yangsheng Xu",
   title = "Modeling of a 3-D Light-Weight Space Manipulator",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "1991",
   number= "CMU-RI-TR-91-08",
   address= "Pittsburgh, PA",