MODELING AND CONTROL OF FLEXIBLE STRUCTURES WITH WEAKNESSES
Coppola, Alessandro (2010) MODELING AND CONTROL OF FLEXIBLE STRUCTURES WITH WEAKNESSES. [Tesi di dottorato] (Inedito)
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The modeling and control of flexible structures with weaknesses is investigated. First a modular, computationally efficient, and numerically stable method is presented, which allows to obtain the dynamic model of a robot constituted by flexible links having variable cross-section and subjected to generic ending forces and torques and to the gravity actions. Then a variation to the assumed mode method is presented which allows to obtain the analytical model of a flexible robot and which results drastically more efficient, from a computational point of view, than the classic assumed modes method. Finally a methodology for trajectory planning in the workspace and for the robot control has been developed.
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