Evaluation of a rigid body model for a SCARA-type robot with harmonic drive transmissions

Author

Fumio, Ozaki

Author_Institution

Toshiba Corp., Kawasaki, Japan

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

787

Abstract

The dynamic parameters of a rigid body model for a two-degree-of-freedom SCARA-type robot are estimated through experiments to evaluate the validity of the model. The input torque and the torque calculated using the estimated parameters are compared in order to evaluate the validity of the model. The difference between the two torques is examined, and the contributions of the terms in the model are calculated to observe which term has the greatest effect on the difference. The model can describe the robot dynamics within about 10% for velocities higher than 1 rad/s for the shoulder joint and for the complete velocity range for the elbow joint. Since Coulomb dynamic friction is dominant in the low- velocity region, it seems that the friction in the model is not sufficient to describe the dynamics there

Keywords

robot dynamics; Coulomb dynamic friction; elbow joint; estimated parameters; harmonic drive transmissions; input torque; model validity; rigid body model; robot dynamics; shoulder joint; two-degree-of-freedom SCARA-type robot; DC motors; Friction; Parameter estimation; Robot kinematics; Robotics and automation; Service robots; Servomotors; Shoulder; Torque; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583163

Filename

583163