Symbolic and numerical investigation of manipulator performance limiting factors

Author

Corke, Peter I.

Author_Institution

CSIRO, Preston, Melbourne, Vic., Australia

fYear

1992

Firstpage

563

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/TENCON.1992.272012

Filename

272012