Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughly compared.
A. Meghdari and F. Fahimi, (1998). Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion. Journal of Advanced Materials in Engineering (Esteghlal), 16(2), 17-28.
MLA
A. Meghdari and F. Fahimi. "Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion", Journal of Advanced Materials in Engineering (Esteghlal), 16, 2, 1998, 17-28.
HARVARD
A. Meghdari and F. Fahimi, (1998). 'Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion', Journal of Advanced Materials in Engineering (Esteghlal), 16(2), pp. 17-28.
VANCOUVER
A. Meghdari and F. Fahimi, Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion. Journal of Advanced Materials in Engineering (Esteghlal), 1998; 16(2): 17-28.
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