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dc.contributor.authorCibicik, Andrej
dc.contributor.authorEgeland, Olav
dc.date.accessioned2020-09-08T06:57:45Z
dc.date.available2020-09-08T06:57:45Z
dc.date.created2020-09-04T10:16:49Z
dc.date.issued2020
dc.identifier.citationIEEE Transactions on Robotics. 2020, .en_US
dc.identifier.issn1552-3098
dc.identifier.urihttps://hdl.handle.net/11250/2676768
dc.description.abstractIn this article, we present a new procedure for the derivation of the linearized kinematics and dynamics of a flexible industrial robotic manipulator. We introduce the Lie groups of dual rotation and dual homogeneous transformation matrices, which are the basis for the derivation of dual twists. In addition, dual screws and dual screw transformation matrices are introduced, which are used for the development of a general and systematic linearization procedure for both kinematics and dynamics. This leads to expressions that are linearized in all the states associated with the elastic motion. The dynamic modeling procedure is based on Kane’s method, where the partial velocities and partial angular velocities are given as dual screws arranged as columns of dual projection matrices. The elasticity of the links is modeled by the assumed mode method. The presented procedure is implemented numerically for a 4-degrees of freedom manipulator and the simulation results are given.en_US
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleKinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screwsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.pagenumber19en_US
dc.source.journalIEEE Transactions on Roboticsen_US
dc.identifier.doi10.1109/TRO.2020.3014519
dc.identifier.cristin1827304
dc.description.localcodeThis work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal