A Case Study: Modeling Of A Passive Flexible Link On A Floating Platform For Intervention Tasks
2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA)(2018)
摘要
This paper focuses on modeling of a robotic system consisting of a floating platform and a passive flexiblelink, which is subjected to three-dimensional large bending deformation during intervention tasks. It investigates the feasibility and efficacy of the quasi-Lagrangian approach and the Euler-Bernoulli beam assumption in modeling this system. Simulations and experiments were conducted to evaluate the model. Then the contact force was calculated with given external input force along with the pose and velocities of the robot, which is validated by the measurements obtained from force-torque sensors. It also found that the accelerations calculated from the model have some deviation from the results obtained from a tracking system.
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关键词
external input force,quasiLagrangian approach,three-dimensional large bending deformation,passive flexible-link,robotic system,floating platform,passive flexible link,force-torque sensors,contact force,Euler-Bernoulli beam assumption
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