A semi-flexible kinematic model for serial manipulators

Structural and control flexibilities affect the absolute precision of serial manipulators. A semi-flexible kinematic model is developed, to improve the absolute static precision. It expands the solid body model by incorporating a spring effect for each joint and a beam effect for each link. Simulati...

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Bibliographic Details
Published in:Robotica 1995-07, Vol.13 (4), p.385-395
Main Authors: Cléroux, Louise, Gourdeau, Richard, Cloutier, Guy M.
Format: Article
Language:English
Subjects:
Applied sciences
Calibration
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Flexibility
Identification
Manipulators
Modeling
Robotics
Robots
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Summary:Structural and control flexibilities affect the absolute precision of serial manipulators. A semi-flexible kinematic model is developed, to improve the absolute static precision. It expands the solid body model by incorporating a spring effect for each joint and a beam effect for each link. Simulation results confirm the adequacy of the model. The dependencies existing between the articulate posture of the manipulator, the effects of the external efforts and the gravitational load on the global structure are properly described. The identifiability of the added parameters is explored on a RR planar robot. It requires efforts and pose errors to be known in the tool frame only.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574700018816