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 |
| Publication status | Published - 1990 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
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Dynamic model and response of robot manipulators with joint irregularities. / Chang, Ren-Jung; Jiang, T. C.
In: Proceedings of the American Control Conference, 1990, p. 1262-1269.Research output: Contribution to journal › Article
TY - JOUR
T1 - Dynamic model and response of robot manipulators with joint irregularities
AU - Chang, Ren-Jung
AU - Jiang, T. C.
PY - 1990
Y1 - 1990
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=0025557686&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0025557686&partnerID=8YFLogxK
M3 - Article
SP - 1262
EP - 1269
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
SN - 0743-1619
ER -