The State Space Model of a Single-Link Flexible Robot with a Fractional Order Viscoelastic Element in the Joint
Abstract
This paper extends some results from the area of vibration damping of single-link
flexible robots. Instead of the integer derivative model, the fractional order derivative model
of a viscoelastic element is proposed. Euler-Bernoulli beam theory for a single-link flexible
robot is used. An analytical solution for a set of decoupled ordinary differential equations is
found and the state-space model with fractional order derivatives is formed
Keywords:
single-link flexible robot / viscoelastic / fractional order / state-space modelSource:
Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013, 2013, 949-954Publisher:
- Belgrade : Serbian Society of Mechanics
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Dynamics of hybrid systems with complex structures. Mechanics of materials. (RS-MESTD-Basic Research (BR or ON)-174001)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Cajić, Milan AU - Karličić, Danilo AU - Lazarević, Mihailo PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4425 AB - This paper extends some results from the area of vibration damping of single-link flexible robots. Instead of the integer derivative model, the fractional order derivative model of a viscoelastic element is proposed. Euler-Bernoulli beam theory for a single-link flexible robot is used. An analytical solution for a set of decoupled ordinary differential equations is found and the state-space model with fractional order derivatives is formed PB - Belgrade : Serbian Society of Mechanics C3 - Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 T1 - The State Space Model of a Single-Link Flexible Robot with a Fractional Order Viscoelastic Element in the Joint EP - 954 SP - 949 UR - https://hdl.handle.net/21.15107/rcub_machinery_4425 ER -
@conference{ author = "Cajić, Milan and Karličić, Danilo and Lazarević, Mihailo", year = "2013", abstract = "This paper extends some results from the area of vibration damping of single-link flexible robots. Instead of the integer derivative model, the fractional order derivative model of a viscoelastic element is proposed. Euler-Bernoulli beam theory for a single-link flexible robot is used. An analytical solution for a set of decoupled ordinary differential equations is found and the state-space model with fractional order derivatives is formed", publisher = "Belgrade : Serbian Society of Mechanics", journal = "Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013", title = "The State Space Model of a Single-Link Flexible Robot with a Fractional Order Viscoelastic Element in the Joint", pages = "954-949", url = "https://hdl.handle.net/21.15107/rcub_machinery_4425" }
Cajić, M., Karličić, D.,& Lazarević, M.. (2013). The State Space Model of a Single-Link Flexible Robot with a Fractional Order Viscoelastic Element in the Joint. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 Belgrade : Serbian Society of Mechanics., 949-954. https://hdl.handle.net/21.15107/rcub_machinery_4425
Cajić M, Karličić D, Lazarević M. The State Space Model of a Single-Link Flexible Robot with a Fractional Order Viscoelastic Element in the Joint. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013. 2013;:949-954. https://hdl.handle.net/21.15107/rcub_machinery_4425 .
Cajić, Milan, Karličić, Danilo, Lazarević, Mihailo, "The State Space Model of a Single-Link Flexible Robot with a Fractional Order Viscoelastic Element in the Joint" in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 (2013):949-954, https://hdl.handle.net/21.15107/rcub_machinery_4425 .