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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Krauss, R. Bruls, O. Book, W. |
| Copyright Year | 2005 |
| Description | Author affiliation: George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Krauss, R.) |
| Abstract | The modeling of a rigid robot attached to a flexible base is addressed in this work. Two approaches are compared: the finite element method (FEM) and the transfer matrix method (TMM). Initially, idealized models of the hydraulic actuators are used that do not include flexible effects in the joints. Those models greatly overestimate the second natural frequency of the system, therefore the identification of local flexibilities in the joints is pursued to improve the results. The very good agreement between both approaches, and their ability to represent the physical system (once joint flexibility is included), confirms their efficiency and relevance in this context. |
| Sponsorship | American Automatic Control Council |
| Starting Page | 1963 |
| Ending Page | 1968 |
| File Size | 494987 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780390989 |
| ISSN | 07431619 |
| e-ISBN | 0780390997 |
| DOI | 10.1109/ACC.2005.1470257 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-06-08 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Robots Finite element methods Frequency Vibration measurement Materials science and technology Books Testing Position measurement Motion control Mechanical engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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