Title :
Dynamic modeling of geared and flexibly jointed manipulators
Author :
Murphy, Steve H. ; Wen, John T.
Author_Institution :
Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
A Newton-Euler analysis of a robot manipulator with gears or joint flexibilities is presented. A recursive order N form for the calculation of the manipulator forward dynamics that includes all gyroscopic forces and motor-link acceleration interactions is developed. The commonality between flexibly jointed manipulators and geared manipulators is discussed. For the flexible joint, the motor-link dynamics are described using a general function for the coupling between motor and link. The dynamic effects of motors and the accurate modeling of industrial manipulator dynamics investigated using a simulation of a PUMA 560 are also presented
Keywords :
distributed parameter systems; dynamics; large-scale systems; robots; Newton-Euler analysis; PUMA 560; dynamic modeling; flexibly jointed manipulators; forward dynamics; geared manipulators; gyroscopic forces; motor-link acceleration interactions; motor-link dynamics; recursive order N form; robot manipulator; Acceleration; Algebra; Gears; Intelligent robots; Intelligent systems; Lagrangian functions; Manipulator dynamics; Orbital robotics; Space exploration; Spinning;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131877
