Dynamic model and response of robot manipulators with joint irregularities

R. J. Chang; T. C. Jiang

doi:10.23919/acc.1990.4790945

Dynamic model and response of robot manipulators with joint irregularities

R. J. Chang, T. C. Jiang

Department of Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

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
Pages (from-to)	1262-1269
Number of pages	8
Journal	Proceedings of the American Control Conference
DOIs	https://doi.org/10.23919/acc.1990.4790945
Publication status	Published - 1990
Event	Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: 1990 May 23 → 1990 May 25

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.23919/acc.1990.4790945

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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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note = "Proceedings of the 1990 American Control Conference ; Conference date: 23-05-1990 Through 25-05-1990",

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AU - Chang, R. J.

AU - Jiang, T. C.

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AB - 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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