DocumentCode
2506224
Title
Initial experiments with a flexible robot
Author
Christian, Andrew D. ; Seering, Warren P.
Author_Institution
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
722
Abstract
A flexible three-degree-of-freedom robot is described, and its behavior is compared with a simple model of a vibrating system. The robot has three rotary joints and two flexible steel links, causing it to exhibit many complicated modes of vibration. A nondimensional analysis of the model showing how it responds to ramp commands and acceleration commands is presented, and the results are compared with those for the actual robot. Using the model, one can select input commands that minimize the vibration of the robot
Keywords
distributed parameter systems; large-scale systems; robots; vibrations; 3 d.o.f. robot; acceleration; flexible robot; flexible steel links; flexible three-degree-of-freedom robot; nondimensional analysis; ramp commands; rotary joints; vibrating system; vibration minimization; Acceleration; Damping; Fixtures; Frequency; Mechanical engineering; Predictive models; Robots; Servomechanisms; Testing; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126071
Filename
126071
Link To Document