Title :
Modeling of dynamics of industrial robots with flexible electric drives
Author :
Kostin, Georgii V. ; Steinbach, Marc C. ; Bock, H. Georg ; Longman, Richard W.
Author_Institution :
Inst. for Problems in Mech., Acad. of Sci., Moscow, Russia
Abstract :
Robot manipulators have greatly enhanced the performance of automated processes during the last decades. Industrial competition, however, creates an increasing demand to further improve the accuracy of off-line programming. Validated dynamic robot models are required for this purpose. We describe the development of a generic dynamic model which includes centrifugal, gravitational and Coriolis forces, motor dynamics, joint elasticities, etc., and specialize it to an actual industrial robot-KUKA IR 761. Time-optimal control is used in our computations for the rigid model of the manipulator performing a real life transport maneuver. The compliant vibrations of the overall robot model exhibited by time-optimal piecewise control are analyzed
Keywords :
electric drives; industrial manipulators; manipulator dynamics; motion control; servomotors; time optimal control; Coriolis forces; KUKA IR 7 industrial robot; centrifugal force; compliant vibrations; dynamics; flexible electric drives; gravitational force; joint elasticities; motor dynamics; off-line programming; piecewise control; robot manipulators; time-optimal control; transport maneuver; validated dynamic robot models; Acceleration; Elasticity; Manipulator dynamics; Mechanical engineering; Robot kinematics; Robotics and automation; Scientific computing; Service robots; Torque; Vibrations;
Conference_Titel :
Control of Oscillations and Chaos, 1997. Proceedings., 1997 1st International Conference
Conference_Location :
St. Petersburg
Print_ISBN :
0-7803-4247-X
DOI :
10.1109/COC.1997.631342
