Application of symbolic manipulation to inverse dynamics and kinematics of elastic robots

M. H. Korayem, Y. Yao, A. Basu
1994 The International Journal of Advanced Manufacturing Technology  
An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method. A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form. A case study is given to illustrate how to use this program for inverse dynamic and kinematic generation. Simulation results for a case study by considering different mode shape are compared with the rigid case.
doi:10.1007/bf01781288 fatcat:y5zvpkffezf4dilpgy5xyyht4i