This paper presents a nonlinear finite element formalism for modelling the dynamics of flexible manipulators using the special Euclidean group SE(3) framework. The method is based on a local description of the motion variables, and results in a singularity free formulation which exhibits important advantages regarding numerical implementation. The motivation behind this work is the development of a new class of model based control systems which may predict and thus avoid the deformations of a real flexible mechanism. Finite element methods based on the geometrically exact beam theory have been proven to be the most accurate to account for flexibility: in this paper we highlight the key aspects of this formulation deriving the equations of motion of a flexible constrained manipulator and we illustrate its potential in robotics through a simple case study, the dynamic analysis of a two link manipulator, simulating different model assumptions in order to emphasize its real physical behavior as flexible mechanism.
A nonlinear finite element formalism for modelling flexible and soft manipulators / Grazioso, Stanislao; Sonneville, Valentin; Di Gironimo, Giuseppe; Bauchau, Olivier; Siciliano, Bruno. - Article number 7862394:(2016), pp. 185-190. (Intervento presentato al convegno 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 tenutosi a San Francisco, USA nel DEC 13-16, 2016) [10.1109/SIMPAR.2016.7862394].
A nonlinear finite element formalism for modelling flexible and soft manipulators
Grazioso, Stanislao;Di Gironimo, Giuseppe;Siciliano, Bruno
2016
Abstract
This paper presents a nonlinear finite element formalism for modelling the dynamics of flexible manipulators using the special Euclidean group SE(3) framework. The method is based on a local description of the motion variables, and results in a singularity free formulation which exhibits important advantages regarding numerical implementation. The motivation behind this work is the development of a new class of model based control systems which may predict and thus avoid the deformations of a real flexible mechanism. Finite element methods based on the geometrically exact beam theory have been proven to be the most accurate to account for flexibility: in this paper we highlight the key aspects of this formulation deriving the equations of motion of a flexible constrained manipulator and we illustrate its potential in robotics through a simple case study, the dynamic analysis of a two link manipulator, simulating different model assumptions in order to emphasize its real physical behavior as flexible mechanism.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
