Modeling of Flexible Robot-Payload Systems Through Component Synthesis-Reference-Cited by-同舟云学术

Modeling of Flexible Robot-Payload Systems Through Component Synthesis

Published:1998-01-12 Issue:2 Volume:122 Page:381-386
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Zhou, T.¹,Zu, and J. W.¹,Goldenberg A. A.¹

Affiliation:

1. Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8

Abstract

In this paper, a new modeling method is developed for analyzing the dynamic behavior of a system consisting of a rigid robotic manipulator and a flexible sheet metal payload. The component mode synthesis method is applied to reduce the degrees of freedom of the payload and to model the interfaces between the robot gripper and the payload. Using nonlinear compatibility functions, the method is modified to synthesize the dynamics of the entire robot-payload system. Exact models are developed capable of describing both large and small rigid-body motions. A modular form is derived and the coupling dynamics is formulated in a computationally efficient manner. Numerical examples are presented to demonstrate the effectiveness of the modeling method. [S0022-0434(00)01102-3]

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/122/2/381/5495947/354_1.pdf

Reference16 articles.

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2. Yuen, K.-M., and Bone, G. M., 1996, “Robotic Assembly of Flexible Sheet Metal Parts,” Proc. IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 1511–1516.

3. Yukawa, T., Uchiyama, M., and Inooka, H., 1995. “Cooperative Control of a Vibrating Flexible Object by a Rigid Dual-Arm Robot,” Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, pp. 1820–1826.

4. Cuadrado, J., Cardenal, J., and Garcia de Jalon, J., 1996, “Flexible Mechanisms Through Natural Coordinates and Component Synthesis: An Approach Fully Compatible with the Rigid Case,” Int. J. Numer. Methods Eng., 39, pp. 3535–3551.

5. Ing, J. G.-L., 1994, “Robotic Fixtureless Assembly of Sheet Metal Parts Using Finite Element Models,” M. A. Sc. thesis, Department of Mechanical and Industrial Engineering, University of Toronto, Canada.

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