2015
DOI: 10.1115/1.4030801
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Abstract: When modeling flexible robots and structures for control purposes, most often the assumed modes (AMs) method is used to describe the deformation in combination with a floating reference frame formulation. This typically has the benefit of obtaining a low-order, but accurate model of the flexible structure, if the number of modes and AMs are properly chosen. The basis for using this method is, however, that the vibrations (deflections) are time and position independent, i.e., the expression is separable in spac…

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