Journals / Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi / 1996 / Cilt: 9 Sayı: 1
Modelling Of A Two-Link Flexible Manipulator With A Payload At Its Tip
- Pages
- 13–23
- DOI
- —
Abstract
in îhis sîudy, modeîling of mulii-link flexi'ble manipulators wıth payload at theirtîps is considered. Having obtained the folai energy terms ofîhe system, the dynamical equations andthe houndary condiîıom defimng the system are derived by using the "Hamiltoman Principle".These non-linear and complex eyuafions can be used m a control design after linearizanon.
Özet
Bu çalışmada, çok eklemli ve ucunda yük bulunan esnek robot kollannm modellenmesi ele