Dynamic model and response of robot manipulators with joint irregularities

Ren-Jung Chang, T. C. Jiang

Research output: Contribution to journalArticle

Abstract

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 language English 1262-1269 8 Proceedings of the American Control Conference Published - 1990

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Manipulators
Dynamic response
Dynamic models
Robotics
Robots
Bearings (structural)
Robotic arms
Linearization
Mathematical models

All Science Journal Classification (ASJC) codes

• Electrical and Electronic Engineering

Cite this

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abstract = "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.",
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journal = "Proceedings of the American Control Conference",
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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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In: Proceedings of the American Control Conference, 1990, p. 1262-1269.

Research output: Contribution to journalArticle

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