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Document type:
Zeitschriftenaufsatz 
Author(s):
Huber, Gerold; Wollherr, Dirk; Buss, Martin 
Title:
A Concise and Geometrically Exact Planar Beam Model for Arbitrarily Large Elastic Deformation Dynamics 
Abstract:
The potential of large elastic deformations in control applications, e.g., robotic manipulation, is not yet fully exploited, especially in dynamic contexts. Mainly because essential geometrically exact continuum models are necessary to express these arbitrarily large deformation dynamics, they typically result in a set of nonlinear, coupled, partial differential equations that are unsuited for control applications. Due to this lack of appropriate models, current approaches that try to explo...    »
 
Keywords:
Kirchhoff–Love beam; elastic deformation; large deformation; planar deflection; geometrically exact; PDE; FEM 
Dewey Decimal Classification:
620 Ingenieurwissenschaften 
Horizon 2020:
The research leading to these results has received funding from the Horizon 2020 research and innovation program under grant agreement N ° 820742 of the project “HR-Recycler - Hybrid Human-Robot RECYcling plant for electriCal and eLEctRonic equipment”. 
Journal title:
Frontiers in Robotics and AI 
Year:
2021 
Journal volume:
Publisher:
Frontiers Media SA 
E-ISSN:
2296-9144 
Date of publication:
25.05.2021 
Semester:
SS 21