Accessibility and identifiability of horizontal vibration in 3-D two-link flexible robots: system mode approach

Abstract

The accessibility of horizontal vibration in a 3-D two-link flexible robot shows configuration-dependent nature (International Journal of Robotics Research 16 (1997) 567). This paper deals with physical meaning of the accessibility issue in conjunction with system mode approach. The identifiability which is dual to the accessibility is also discussed. The analysis of horizontal vibration based on system mode approach takes an important role in examining the vibration accessibility. The ensuing Lagrangian dynamic formulation enables the formal definition of rigid-flexible coupled dynamic terms which show clear physical meaning. Both theoretical and numerical studies are presented to elucidate the meaning of the accessibility and the identifiability of horizontal vibration. In addition, the experimental results support the theoretical results. (C) 2003 Elsevier Ltd. All rights reserved.