DocumentCode
3622953
Title
Structural compliance of flexible robot arms: analysis, synthesis and control aspects
Author
S. Havlik
Author_Institution
Inst. of Tech. Cybern., Slovak Acad. of Sci., Banska Bystrica, Czechoslovakia
fYear
1991
fDate
6/13/1905 12:00:00 AM
Firstpage
1622
Abstract
A systematic approach to the description and analysis of robot´s flexural characteristics is presented. Relations are derived for computing the total compliance matrix and deflection of the arm when considering the finite link stiffness, joint compliance and possible gear backlashes. The schema is applicable for serial, parallel or multi-arm structures.
Keywords
"Manipulators","Robot kinematics","Robot sensing systems","Robotic assembly","Gears","Orbital robotics","Control system synthesis","Vibrations","Force control","Force measurement"
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. ´Robots in Unstructured Environments´, 91 ICAR., Fifth International Conference on
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240495
Filename
240495
Link To Document