Hostname: page-component-cb9f654ff-w5vf4 Total loading time: 0 Render date: 2025-08-19T12:53:50.925Z Has data issue: false hasContentIssue false
  • English
  • Français

Improvement of dynamic capabilities of heavy robots

Published online by Cambridge University Press:  09 March 2009

V. Potkonjak  and
A. Krstulović
V. Potkonjak
Affiliation:
Electrical Engineering Faculty, Bulevar Revolucije 73, 11000 Belgrade, Yugoslavia.
A. Krstulović
Affiliation:
R & D Institute “Brodosplit”, Put udarnika 19, 58000 Split, Yugoslavia.
Get access Rights & Permissions [Opens in a new window]

Summary

The application of heavy robots is usually restricted to those problems where large loads are carried and high speed is not required. This paper proposes a method for the improvement of robot dynamic capabilities thus enabling a heavy robot to perform the fast manipulation. The approach follows the idea of “distributed positioning” and introduces redundancy. The concept adopted is proved on two different configurations: an elbow-scheme manipulation robot and a gantry welding robot.

Keywords

Heavy RobotFast ManipulationDistributed PositioningDynamic Capability

Information

Type
Article
Information
Robotica , Volume 8 , Issue 3 , July 1990 , pp. 217 - 222
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Potkonjak, V., “Distributed Positioning for Redundant Robotic Systems” Robotica (in press).Google Scholar
2.Potkonjak, V., “New Approach to the Application of Redundant Robots” Proc. 2nd Intl. Conf. on Robotics, Dubrovnik (1989) pp. 373–381.Google Scholar
3.Potkonjak, V. and Krstulović, A. “Robotic Welding System with Parallel Degrees of Freedom” Proc. 2nd Intl. Conf. on Robotics, Dubrovnik (1989) pp. 219–228.Google Scholar
4.Paul, R., Robot Manipulators (MIT Press, Boston, Mass., 1981).Google Scholar
5.Lee, C.S.G. and Ziegler, M., “A Geometric Approach in Solving the Inverse Kinematics of PUMA Robots” IEEE Trans. Aerospace and Electronic Systems, AES-20, No. 6, 695–706 (1984).CrossRefGoogle Scholar
6.Vukobratović, M. and Potkonjak, V., Applied Dynamics and CAD of Manipulation Robots (Springer-Verlag, Berlin, 1985).CrossRefGoogle Scholar
7.Orin, D.E. & Schrader, W.W., “Efficient Computation of the Jacobian for Robot Manipulators” Intl. J. Robotics Res. 3, No. 4, 66–75 (1984).CrossRefGoogle Scholar