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Linearization of dynamic equations for vibration and modal analysis of flexible joint manipulators
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NSTL
Elsevier
This paper presents the dynamic model and analytical modal analysis for robotic manipulators with rigid links and flexible joints. Dynamic equations of general robots with both prismatic and revolute joints are firstly developed using the Lagrangian formulation in minimal joint and motor coordinates. Next, linearized dynamic equations taking into account the influence of gravity forces, external forces, and control parameters are formulated based on the Taylor series. Therefore, the robot's modal parameters can be computed for any configuration based on a state-space matrix derived from the linearization model. To illustrate the proposed method, modal parameters of a flexible joint robot with six degrees of freedom are computed using the analytical method and estimated using the operational modal technique based on the vector autoregression model. Results obtained by both methods agree very well with each other.
NSTL
Elsevier
