A study on the dynamic simulation of flexible arm and linear controller

유연성을 갖는 로보트 팔과 선형 제어기의 동적 시뮬레이션에 관한 연구

High performance requirements such as high speed operation. accuracy and versatility have led to the consideration of structural flexibility in robot arms. The purpose of this study is to investigate the interrelationships between the robot structural flexibility and a linear controller for the rigid body motion. This paper employs an assumed modes method to model both the rigid and flexible motion of the robot arm. The simulation results illustrate the differences between leadscrew driven and unconstrainted axes of the robot.