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Determination of elastodynamic errors in joints of industrial robots

Published online by Cambridge University Press:  09 March 2009

Ilija Nikolić
Ilija Nikolić
Affiliation:
Harvard Robotics Laboratory, Harvard University, Cambridge, MA, 02138
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Summary

This paper presents a method for automatic forming and solving dynamic equations of motion of manipulator with elastic joints and rigid segments. For the minimal configuration of a cylindrical manipulator the numerical integration of these equations is performed, and vibrations in the joints are obtained as dynamic errors with respect to the prescribed trajectory.

Keywords

JointsRobotsElastodynamic ErrorsAutomatic Solving

Information

Type
Research Article
Information
Robotica , Volume 6 , Issue 3 , July 1988 , pp. 213 - 219
Copyright
Copyright © Cambridge University Press 1988

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References

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