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Zhurnal Vychislitel'noi Matematiki i Matematicheskoi Fiziki, 2022, Volume 62, Number 3, Pages 521–528
DOI: https://doi.org/10.31857/S0044466922030061
(Mi zvmmf11379)
 

Computer science

Modeling flexible manipulators without inverting their mass matrices

H. A. Gevorgyan

Institute of Mechanics, National Academy of Science of Armenia, 0019, Erevan, Armenia
Abstract: In modern scientific literature, much attention is paid to optimal modeling of flexible dynamic systems. The importance of such studies is dictated by the ever-increasing demand of high-precision robotic manipulators and automatic mechanisms in the theory of control. This demand consists in the need for continuous adjustment of the movement of their effectors in real time, taking into account the compliance of the constituent links of these systems. The generalized Newton–Euler method formulated in this connection provides a reliable platform for the subsequent construction of modifications that accelerate the dynamic analysis of different classes of elastodynamic systems faster. A version of this method designed for optimal modeling of flexible manipulators is proposed that does not use the well-known procedure of inverting their mass matrices.
Key words: elastic dynamic systems, symbolic computations, generalized Newton–Euler method, superelement, mixed dynamic model, numerical integration, matrix of iterations, Newton–Raphson metod.
Received: 12.01.2021
Revised: 23.08.2021
Accepted: 17.11.2021
English version:
Computational Mathematics and Mathematical Physics, 2022, Volume 62, Issue 3, Pages 508–515
DOI: https://doi.org/10.1134/S096554252203006X
Bibliographic databases:
Document Type: Article
UDC: 517.938
Language: Russian
Citation: H. A. Gevorgyan, “Modeling flexible manipulators without inverting their mass matrices”, Zh. Vychisl. Mat. Mat. Fiz., 62:3 (2022), 521–528; Comput. Math. Math. Phys., 62:3 (2022), 508–515
Citation in format AMSBIB
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