Dynamic model and response of robot manipulators with joint irregularities

Ren-Jung Chang, T. C. Jiang

研究成果: Article

摘要

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.

原文English
頁(從 - 到)70-77
頁數8
期刊Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
115
發行號1
DOIs
出版狀態Published - 1993 一月 1

指紋

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

引用此文

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