Dynamic model and response of robot manipulators with joint irregularities

R. J. Chang, T. C. Jiang

Research output: Contribution to journalConference articlepeer-review


The dynamic equation for a robotic manipulator with joint irregularities is formulated and employed to predict the positioning accuracy and precision of a robotic manipulator in high-speed operation. The mathematical model is derived by incorporating a dynamic model of irregular joints in an ideal robotic equation and employing the Lagrangian formulation. The joint irregularity is modeled as an elastic sliding pair which consists of a journal with irregular surface sliding on the surface of an elastic bearing. By employing Gaussian linearization methods, the operational accuracy and precision of the robotic manipulator are obtained from mean and covariance propagation equations of the robotic system. The operation of a single-arm robotic manipulator with joint irregularities is investigated for demonstrating the present techniques.

Original languageEnglish
Pages (from-to)1262-1269
Number of pages8
JournalProceedings of the American Control Conference
Publication statusPublished - 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: 1990 May 231990 May 25

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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