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Modelling and Model Fitting of Flexible Robots – a Multibody System Toolkit Approach

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Abstract

During the last decade robots with flexible links became a popular research object for control engineers. This is because of their sophisticated properties referring to feedback control, e.g., non-minimum phase behaviour in end-effector control. Massive problems already occur trying to obtain an accurate analytic model for multilink flexible robots. This paper presents an effective way for numerical modelling of multilink flexible robots using the multibody system toolkit MBILE. The experimental model fitting to a laboratory test bed of a two-link flexible robot is documented.

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Authors and Affiliations

  1. Department of Measurement and Control (Prof. Dr.-Ing. H. Schwarz), University of Duisburg, Faculty of Mechanical Engineering, D-47048, Duisburg, Germany

    W. Bernzen & B. Riege

  2. Department of Mechatronics, University of Duisburg, Faculty of Mechanical Engineering, D-47048, Duisburg, Germany

    S. Hartmann

Authors
  1. W. Bernzen
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  2. B. Riege
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  3. S. Hartmann
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Bernzen, W., Riege, B. & Hartmann, S. Modelling and Model Fitting of Flexible Robots – a Multibody System Toolkit Approach. Journal of Intelligent and Robotic Systems 22, 165–175 (1998). https://doi.org/10.1023/A:1007984718156

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  • DOI: https://doi.org/10.1023/A:1007984718156

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