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TECHNICAL PAPERS

Dynamic Analysis of Planar Cooperative Manipulators With Link Flexibility*

[+] Author and Article Information
Cheng-Xin Zhang, Yue-Qing Yu

College of Mechanical Engineering & Applied Electronics, Beijing Polytechnic University, Beijing 100022, P. R. of China

J. Mech. Des 126(3), 442-448 (Sep 01, 2003) (7 pages) doi:10.1115/1.1701875 History: Received July 01, 2001; Revised September 01, 2003
Copyright © 2004 by ASME
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References

Figures

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Element model of a 3R robot
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Input joint angles of Robot 1
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Input joint angles of Robot 2
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Compensation angles of Robot 1
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Compensation angles of Robot 2
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Input joint torques of Robot 1
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Input joint torques of Robot 2
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Input joint torques of Robot 1 of FD method
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Input joint torques of Robot 2 of FD method
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Tracking errors of FD method
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Internal forces of FD method
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Input joint torques of Robot 1
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Input joint torques of Robot 2
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Input joint torques of Robot 1 of FD method
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Input joint torques of Robot 2 of FD method
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Tracking errors of FD method
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Internal forces of FD method

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