Determination of elastodynamic errors in joints of industrial robots-Reference-Cited by-同舟云学术

Determination of elastodynamic errors in joints of industrial robots

Published:1988-07 Issue:3 Volume:6 Page:213-219
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Nikolić Ilija

Abstract

SUMMARYThis paper presents a method for automatic forming and solving dynamic equations of motion of manipulator with elastic joints and rigid segments. For the minimal configuration of a cylindrical manipulator the numerical integration of these equations is performed, and vibrations in the joints are obtained as dynamic errors with respect to the prescribed trajectory.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference11 articles.

1. The Contribution to the Study of Flexible Manipulation Robots;Nikolić;Proc. 6th IFToMM World Congress New Delhi,1983

2. Dynamics of articulated open-chain active mechanisms

3. Computational Method for Modelling of Dynamic of Manipulators with Elastic Characteristics;Vukobratović;Techn. Cybernetics,1982

4. Contribution to Flexible Manipulators Dynamic Using Finite Element Method;Nikolić;Proc. 1st Soviet-Yugoslav Symposium on Applied Robotics,1983

5. Determination of Dynamic Errors of Industrial Manipulators Mechanisms;Grebenikow;Mashinovedenie AN SSSR,1980

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1. Dynamic Characteristics of Balanced Robotic Manipulators with Joint Flexibility;Robotica;1992-11

2. Dynamic characteristics of balanced robotic manipulators with joints flexibility;Robotica;1992-01

3. Modelling the dynamic characteristics of a robot arm joint;Robotics and Computer-Integrated Manufacturing;1991-01

4. SOLUTION-SCHEMES FOR THE SYSTEM EQUATIONS OF FLEXIBLE ROBOTS;J ROBOTIC SYST;1989