İki Eklemli Ve Ucunda Yük Bulunan Esnek Bir Robot Kolunun Modellenmesi

Year 1996, Volume: 9 Issue: 1, 13 - 23, 30.06.1996

Osman Parlaktuna Serap Ön Neziha Öztürk

Abstract

Bu çalışmada, çok eklemli ve ucunda yük bulunan esnek robot kollannm modellenmesi ele

alınmıştır. Sistemin toplam enerji ifadeleri elde edüüîkten sonra, "Hamütoman Prensibi

kuUamlarak sistemi tanımlayan dinamik denklemler ve sınır koşullanu elde edilmiştir. Elde edilen bu

çok karmaşık ve doğrusal olmayan denklemler kontrol tasarımında kuUamlabilır.

Keywords

Esnek robot kolu, dogrusallaştırma

Modelling Of A Two-Link Flexible Manipulator With A Payload At Its Tip

Abstract

in îhis sîudy, modeîling of mulii-link flexi'ble manipulators wıth payload at their

tîps is considered. Having obtained the folai energy terms ofîhe system, the dynamical equations and

the houndary condiîıom defimng the system are derived by using the "Hamiltoman Principle".

These non-linear and complex eyuafions can be used m a control design after linearizanon.

Keywords

Flexible manipulalor, linearization

References

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