Details
| Original language | English |
|---|---|
| Pages | 275-278 |
| Number of pages | 4 |
| Publication status | Published - 1997 |
| Externally published | Yes |
| Event | 1st International Conference on Control of Oscillations and Chaos, COC 1997 - St.Petersburg, Russia Duration: 27 Aug 1997 → 29 Aug 1997 |
Conference
| Conference | 1st International Conference on Control of Oscillations and Chaos, COC 1997 |
|---|---|
| City | St.Petersburg, Russia |
| Period | 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 subject areas
- Engineering(all)
- General Engineering
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1997. 275-278 Paper presented at 1st International Conference on Control of Oscillations and Chaos, COC 1997 , St.Petersburg, Russia.
Research output: Contribution to conference › Paper › Research › 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 -