Title :
Minimization of Constraint Forces in Industrial Manipulators
Author :
Chaudhary, Himanshu ; Saha, Subir Kumar
Author_Institution :
Dept. of Mech. Eng., MLV Textile & Eng. Coll., Bhilwara
Abstract :
Constraint force minimization is essential to improve the dynamic performance of an industrial manipulator. An optimization method is proposed to minimize the constraint forces using the concept of dynamically equivalent system of point-masses. It is shown that for the six-DOF PUMA robot the constraint forces are substantially reduced.
Keywords :
force control; industrial manipulators; manipulator dynamics; minimisation; constraint force minimization; industrial manipulators; six-DOF PUMA robot; Constraint optimization; Electrical equipment industry; Equations; Friction; Manipulator dynamics; Optimization methods; Orbital robotics; Robot control; Robotics and automation; Service robots;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363608
