Title :
Symbolic and numerical investigation of manipulator performance limiting factors
Author_Institution :
CSIRO, Preston, Melbourne, Vic., Australia
Abstract :
The application of computer algebra and numerical simulation to investigate the dynamic performance limiting factors of a Puma 560 manipulator is discussed. Using simple computer algebra programs, it is possible to gain insight into the configuration-dependent dynamic terms and their effect on independent joint axis control strategies. The manipulator´s base parameter set can be determined, and a form of the dynamic equations suitable for linear parameter identification can be generated, together with efficient run-time codes for computed-torque or feedforward control
Keywords :
control engineering computing; manipulators; mechanical engineering computing; symbol manipulation; Puma 560 manipulator; computed-torque control; computer algebra; configuration-dependent dynamic terms; dynamic equations; dynamic performance; feedforward control; independent joint axis control strategies; linear parameter identification; manipulator performance limiting factors; numerical investigation; numerical simulation; Algebra; Computer aided manufacturing; Equations; Feedforward systems; Gravity; Lagrangian functions; Manipulator dynamics; Packaging; Robot kinematics; Runtime;
Conference_Titel :
TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-0849-2
DOI :
10.1109/TENCON.1992.272012
