Details
| Originalsprache | Englisch |
|---|---|
| Seiten | 275-278 |
| Seitenumfang | 4 |
| Publikationsstatus | Veröffentlicht - 1997 |
| Extern publiziert | Ja |
| Veranstaltung | 1st International Conference on Control of Oscillations and Chaos, COC 1997 - St.Petersburg, Russia Dauer: 27 Aug. 1997 → 29 Aug. 1997 |
Konferenz
| Konferenz | 1st International Conference on Control of Oscillations and Chaos, COC 1997 |
|---|---|
| Ort | St.Petersburg, Russia |
| Zeitraum | 27 Aug. 1997 → 29 Aug. 1997 |
Abstract
Robot manipulators have greatly enhanced the performance of automated processes during the last decades. Industrial competition, however, creates an increasing demand to further improve the accuracy of off-line programming. Validated dynamic robot models are required for this purpose. We describe the development of a generic dynamic model which include centrifugal, gravitational and Coriolis forces, motor dynamics, joint elasticities, etc. and specialize it to an actual industrial robot KUKA IR 761. The time-optimal control is used in our computations for the rigid model of the manipulator performing a real life transport maneuver. The compliant vibrations of overall robot model exhibited by time-optimal piecewise control are analyzed.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Allgemeiner Maschinenbau
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1997. 275-278 Beitrag in 1st International Conference on Control of Oscillations and Chaos, COC 1997 , St.Petersburg, Russia.
Publikation: Konferenzbeitrag › Paper › Forschung › Peer-Review
}
TY - CONF
T1 - Modeling of dynamics of industrial robots with flexible electric drives
AU - Kostin, Georgii V.
AU - Steinbach, Marc C.
AU - Bock, H. Georg
AU - Longman, Richard W.
PY - 1997
Y1 - 1997
N2 - Robot manipulators have greatly enhanced the performance of automated processes during the last decades. Industrial competition, however, creates an increasing demand to further improve the accuracy of off-line programming. Validated dynamic robot models are required for this purpose. We describe the development of a generic dynamic model which include centrifugal, gravitational and Coriolis forces, motor dynamics, joint elasticities, etc. and specialize it to an actual industrial robot KUKA IR 761. The time-optimal control is used in our computations for the rigid model of the manipulator performing a real life transport maneuver. The compliant vibrations of overall robot model exhibited by time-optimal piecewise control are analyzed.
AB - Robot manipulators have greatly enhanced the performance of automated processes during the last decades. Industrial competition, however, creates an increasing demand to further improve the accuracy of off-line programming. Validated dynamic robot models are required for this purpose. We describe the development of a generic dynamic model which include centrifugal, gravitational and Coriolis forces, motor dynamics, joint elasticities, etc. and specialize it to an actual industrial robot KUKA IR 761. The time-optimal control is used in our computations for the rigid model of the manipulator performing a real life transport maneuver. The compliant vibrations of overall robot model exhibited by time-optimal piecewise control are analyzed.
UR - http://www.scopus.com/inward/record.url?scp=0030705634&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:0030705634
SP - 275
EP - 278
T2 - 1st International Conference on Control of Oscillations and Chaos, COC 1997
Y2 - 27 August 1997 through 29 August 1997
ER -