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2 years ago in Robot Perception , Robotics By Pavitra

Should dynamic modeling and control of flexible robots be considered a multi-body problem?

Is the dynamic modeling and control of flexible robots inherently a multi-body dynamics problem?

RobotDynamics

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By Bindya Answered 1 year ago

Absolutely. Flexible robots are inherently multi-body systems with distributed flexibility (links) and often joint elasticity. Modeling must account for the infinite degrees of freedom (DoF) of continuous deformation, typically approximated using assumed modes or finite elements. This results in a high-order, coupled multi-body dynamic model. Control strategies must address vibration suppression and often treat the system as underactuated (more DoF than control inputs). Therefore, multi-body dynamics formulation (e.g., using Lagrange or Kane's method) is the fundamental basis. Key references include works by Book ("Modeling, Design, and Control of Flexible Manipulator Arms") and Benosman.

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Should dynamic modeling and control of flexible robots be considered a multi-body problem?

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