Date of Award
Doctor of Philosophy
Martin J. Vanderploeg
Modeling techniques for an assumed modes model of a planar elastic robot arm with an end mass are examined. Both analytical models and experiments are used to study the effects of assumed mode shape selection. coupling between elastic and gross motions, and gravity upon the accuracy of an assumed modes model.
Digital Repository @ Iowa State University, http://lib.dr.iastate.edu/
Alan Matthew Hufnagel
Hufnagel, Alan Matthew, "Gravitational and coupling effects in modeling of an elastic robot arm " (1989). Retrospective Theses and Dissertations. 9196.