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 of a robotic manipulator with joint irregularities is formulated and employed for the prediction of 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 modelled as an elastic sliding pair which consists of a journal with an 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 applications of the present techniques.

Original languageEnglish
Pages (from-to)70-77
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume115
Issue number1
DOIs
Publication statusPublished - 1993 Jan 1

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robotics
dynamic response
robots
irregularities
dynamic models
Manipulators
Dynamic response
manipulators
Dynamic models
Robotics
Robots
sliding
Bearings (structural)
robot arms
Robotic arms
linearization
Linearization
positioning
mathematical models
high speed

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

Cite this

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Dynamic model and response of robot manipulators with joint irregularities. / Chang, Ren-Jung; Jiang, T. C.

In: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 115, No. 1, 01.01.1993, p. 70-77.

Research output: Contribution to journalArticle

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