Title :
Structural compliance of flexible robot arms: analysis, synthesis and control aspects
Author_Institution :
Inst. of Tech. Cybern., Slovak Acad. of Sci., Banska Bystrica, Czechoslovakia
fDate :
6/13/1905 12:00:00 AM
Abstract :
A systematic approach to the description and analysis of robot´s flexural characteristics is presented. Relations are derived for computing the total compliance matrix and deflection of the arm when considering the finite link stiffness, joint compliance and possible gear backlashes. The schema is applicable for serial, parallel or multi-arm structures.
Keywords :
"Manipulators","Robot kinematics","Robot sensing systems","Robotic assembly","Gears","Orbital robotics","Control system synthesis","Vibrations","Force control","Force measurement"
Conference_Titel :
Advanced Robotics, 1991. ´Robots in Unstructured Environments´, 91 ICAR., Fifth International Conference on
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240495
