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P. Boscariol, A. Gasparetto, M. Giovagnoni, A. K. Moosavi, R. Vidoni
On the Modeling of Flexible-Link Robots: First Experimental Validation of an ERLS-FEM Dynamic Model
Proc. of ICM 2013 - IEEE International Conference on Mechatronics, Vicenza (ITALY) - February 27-28 , March 1 2013

Abstract: The task of modelling and control of lightweight robots is directly related to a suitable motion planning and control. To achieve such results and increase performances, accurate dynamic models that take into account the usually neglected inertial and elastic terms can be adopted in model-based approaches. In this paper, the experimental validation of an effective method based on an Equivalent Rigid Link System approach has been assessed. To this end, a dynamic simulator implementing the formulation has been exploited and an experimental test-bench has been set-up. The experimental tests carried out with a benchmark L-shape mechanism show a good agreement between the numerical model and the experimental measurements.


Topic: Mechanical Vibrations
Activity: Modeling and control of flexible link mechanisms with a single actuator

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