Dynamic modeling of geared and flexibly jointed manipulators

Author

Murphy, Steve H. ; Wen, John T.

Author_Institution

Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1765

Lastpage

1770

Abstract

A Newton-Euler analysis of a robot manipulator with gears or joint flexibilities is presented. A recursive order N form for the calculation of the manipulator forward dynamics that includes all gyroscopic forces and motor-link acceleration interactions is developed. The commonality between flexibly jointed manipulators and geared manipulators is discussed. For the flexible joint, the motor-link dynamics are described using a general function for the coupling between motor and link. The dynamic effects of motors and the accurate modeling of industrial manipulator dynamics investigated using a simulation of a PUMA 560 are also presented

Keywords

distributed parameter systems; dynamics; large-scale systems; robots; Newton-Euler analysis; PUMA 560; dynamic modeling; flexibly jointed manipulators; forward dynamics; geared manipulators; gyroscopic forces; motor-link acceleration interactions; motor-link dynamics; recursive order N form; robot manipulator; Acceleration; Algebra; Gears; Intelligent robots; Intelligent systems; Lagrangian functions; Manipulator dynamics; Orbital robotics; Space exploration; Spinning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131877

Filename

131877