Modeling the Spatial Dynamics of Robotic Manipulators with Flexible Links and Joint Clearances

A dynamic modeling method is presented for spatial elastic manipulators that can account for a number of their realistic properties, including bearing clearances, actuator dynamics, and control system characteristics. Forces in the bearing clearances are modeled by nonlinear functions of the links’...

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Bibliographic Details
Published in:Journal of mechanical design (1990) 1993-12, Vol.115 (4), p.839-847
Main Authors: Kakizaki, T, Deck, J. F, Dubowsky, S
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Robotics
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Summary:A dynamic modeling method is presented for spatial elastic manipulators that can account for a number of their realistic properties, including bearing clearances, actuator dynamics, and control system characteristics. Forces in the bearing clearances are modeled by nonlinear functions of the links’ relative motions and the internal geometry of the connection, or by experimentally measured properties. A detailed model is given for a revolute connection with radial and axial clearances. Results obtained for a SCARA manipulator show that the combined dynamic effects of bearing clearances, link elasticity, and control system characteristics can significantly degrade the system’s performance.
ISSN:1050-0472
1528-9001
DOI:10.1115/1.2919277