A Python Module for Modeling and Control Design of Flexible Robots
This article discusses the creation of a python module for object-oriented modeling and control design of flexible robots using the transfer matrix method (TMM). The authors overcame several theoretical hurdles to apply the TMM to practical flexible robots and have experimentally validated the python module's modeling capabilities.
Summary form only. The author introduces the concept of a dynamic parameter, a concept based on the fact that a component (for this study, an electric motor) possesses many attributes of a dynamic role. A system's function can be expressed as a function of the motor-related sensors, interlocks, instrumentation, and other actuating devices. This process can be used to build intelligent structures. These structures would be expert-defined and become powerful communication highways which include traditional or classical engineering relationships as well as specific new relationships defined in the present work. >