DocumentCode
2529800
Title
Dynamic and vibration modeling of a cartesian robot
Author
Benjamin, Michael H. ; Garcia-Reynoso, Alfonso ; Seering, Warren P.
Author_Institution
Massachusetts Institute of Technology
Volume
2
fYear
1985
fDate
31107
Firstpage
990
Lastpage
995
Abstract
Quality of the dynamic response of a robotic manipulator is dependent upon a variety of factors. In this paper, we will discuss the effects on dynamic performance of robot system design and of structural resonant characteristics. A model of the actuator and controller system for a cartesian robot will be presented and its simulated performmance evaluated. Comparison will be made between performance of the model and that of the actual robot system. A model for system resonant characteristics will then be developed and predictions compared with experimental data.
Keywords
Actuators; Assembly systems; Control system synthesis; Friction; Predictive models; Resonance; Robotic assembly; Robots; Testing; Voltage;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1985.1087291
Filename
1087291
Link To Document