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On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs
| dc.contributor.author | Zribi, Sameh |
| dc.contributor.author | Tlijani, Hatem |
| dc.contributor.author | Knani, Jilani |
| dc.contributor.author | Puig Cayuela, Vicenç |
| dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
| dc.date.accessioned | 2017-11-15T10:12:58Z |
| dc.date.available | 2017-11-15T10:12:58Z |
| dc.date.issued | 2017 |
| dc.identifier.citation | Zribi, S., Tlijani, H., Knani, J., Puig, V. On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs. A: International Conference on Control, Decision and Information Technologies. "4th-2017 International Conference on Control, Decision and Information Technologies". Barcelona: 2017, p. 1-6. |
| dc.identifier.uri | http://hdl.handle.net/2117/110661 |
| dc.description | © 2017 IEEE. Personal use of this ma terial is permitted. Permission from IEEE must be obtained for al l other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, f or resale or redistribution to se rvers or lists, or reuse of any copyrighted compone nt of this work in other works |
| dc.description.abstract | The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles. |
| dc.format.extent | 6 p. |
| dc.language.iso | eng |
| dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject.lcsh | Manipulators (Mechanism) |
| dc.subject.lcsh | Robots--Control systems |
| dc.subject.other | Flexible arm |
| dc.subject.other | manipulator |
| dc.subject.other | Rigid-flexible robot |
| dc.subject.other | dynamic modelling |
| dc.subject.other | trajectory generation |
| dc.subject.other | motion profile |
| dc.title | On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs |
| dc.type | Conference report |
| dc.subject.lemac | Robots mòbils |
| dc.subject.lemac | Robots -- Sistemes de control |
| dc.contributor.group | Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
| dc.description.peerreviewed | Peer Reviewed |
| dc.rights.access | Open Access |
| local.identifier.drac | 21332334 |
| dc.description.version | Postprint (author's final draft) |
| local.citation.author | Zribi, S.; Tlijani, H.; Knani, J.; Puig, V. |
| local.citation.contributor | International Conference on Control, Decision and Information Technologies |
| local.citation.pubplace | Barcelona |
| local.citation.publicationName | 4th-2017 International Conference on Control, Decision and Information Technologies |
| local.citation.startingPage | 1 |
| local.citation.endingPage | 6 |
