Dynamic model and response of robot manipulators with joint irregularities

R. J. Chang, T. C. Jiang

研究成果: Conference article同行評審

摘要

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.

原文English
頁(從 - 到)1262-1269
頁數8
期刊Proceedings of the American Control Conference
DOIs
出版狀態Published - 1990
事件Proceedings of the 1990 American Control Conference - San Diego, CA, USA
持續時間: 1990 5月 231990 5月 25

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程

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