Hostname: page-component-7c8c6479df-94d59 Total loading time: 0 Render date: 2024-03-29T13:49:49.640Z Has data issue: false hasContentIssue false

Adding flexibility to the links of a rigid-link dynamic model of an articulated robot

Published online by Cambridge University Press:  09 March 2009

A. Bodner
Affiliation:
ACTA, Inc., Plaza de Rina, Suite 101, 24430 Hawthorne Blvd. Torrance CA 90505 (USA)

Summary

A method was developed that takes into account flexibility of robot links in the inverse dynamics calculations. This method uses the Newton-Euler equations and is applicable for special case systems that allow for only a small degree of flexibility. Application of the method should improve the accuracy of the position of the end effector during motion of the robot.

The results of this study show that the method can be based entirely on an existing rigid-link model with only minimal changes required as additions. The computational complexity of the method is discussed briefly as well and indicates an increase of computations of slightly more than a factor of two as compared to a rigid-link model for the same robot geometry.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Winfrey, R.C., “Elastic Link Mechanism DynamicsTransactions of the ASME 268272 (02, 1971).Google Scholar
2.Winfrey, R.C., “Dynamic Analysis of Elastic Link Mechanisms by Reduction of CoordinatesJ. Engineering for Industry 577582 (05, 1972).CrossRefGoogle Scholar
3.Shabana, A. and Wehage, R.A., “Variable Degree-of-Freedom Component Mode Analysis of Inertia Variant Flexible Mechanical SystemsJ. Mechanisms, Transmissions, and Automation in Design 105, 371377 (09, 1983).Google Scholar
4.Khulief, Y.A. and Shabana, A., “Dynamics of Multibody Systems With Variable Kinematic Structure”, J. Mechanisms, Transmissions, and Automation in Design 108, 167175 (05, 1986).Google Scholar
5.Yoo, W.S. and Haug, E.J., “Dynamics of Flexible Mechanical Systems Using Vibration and Static Correction ModesJ. Mechanisms, Transmissions, and Automation in Design 108, 315321 (09 1986).Google Scholar
6.Sadler, J.P. and Sandor, G.N., “A Lumped Parameter Approach to Vibration and Stress Analysis of Elastic LinkagesJ. Engineering for Industry 549557 (05, 1973).CrossRefGoogle Scholar
7.Book, W.J., “Recursive Lagrangian Dynamics of Flexible Manipulator ArmsInt. J. Robotics Research 3(3), 87101 (Fall, 1984).CrossRefGoogle Scholar
8.Book, W.J., Alberts, T.E. and Hastings, G.G., “Design Strategy for High-Speed, Lightweight RobotsCIME 5, No. 2 (1986).Google Scholar
9.Luh, J.Y.S., Walker, M.W. and Paul, R.P.C., “On-Line Computational Scheme for Mechanical ManipulatorsJ. Dynamic Systems, Measurement and Control 102, No. 2, 6976 (06, 1980).Google Scholar
10.Hollerbach, J.M. and Sahar, G., “Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics”, Int. J. Robotics Research 2(4), (Winter, 1983).CrossRefGoogle Scholar
11.Truckenbrodt, A., “REGELUNG ELASTICHER MECH-ANISCHER SYSTEMRegelung stechnik RT 30, No. 8, 277285 (08, 1982).Google Scholar
12.Cannon, R.H. Jr., and Schmilz, E., “Initial Experiments on the End-Point Control of a Flexible One-Link RobotInt. J. Robotics Research 3(3), 6275 (Fall, 1984).CrossRefGoogle Scholar
13.Balas, M.J., “Optional Quasi-Static Shape Control for Large Aerospace AntennaeJ. Optim. Theory Appl 46, No. 2, 153170 (06, 1985).CrossRefGoogle Scholar