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A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA
Chen P(陈鹏); Li HY(李洪谊)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6-9, 2015
Conference PlaceZhuhai, China
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages668-673
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161802327743
WOS IDWOS:000380476200112
Contribution Rank1
ISBN978-1-4673-9674-5
AbstractA rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method. ©
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18614
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Chen P,Li HY. A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA[C]. Piscataway, NJ, USA:IEEE,2015:668-673.
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