The Effect of the Elastic Compliance of Actuator Components on the Dynamics of a Robot |
| |
| Authors: | Gulyaev V. I. Zavrazhina T. V. |
| |
| Affiliation: | (1) National University of Transport, Kiev, Ukraine;(2) National University of Building and Architecture, Kiev, Ukraine |
| |
| Abstract: | Kinematic and dynamic control problems for a pedestal-mounted robot with a multilink arm are formulated. The robot is considered a system of perfectly rigid bodies controlled by a combined actuating system. The mathematical model of robot dynamics accounts for the elastic properties of actuator components based on the formalism of Lagrange equations of the second kind. The effect of the elastic compliance of the actuator components on the dynamics of manipulator links and actuator motors is discussed. A robot with a two-link arm is considered as an example |
| |
| Keywords: | robot manipulator actuator elastic compliance kinematic control dynamic control vibrations |
| 本文献已被 SpringerLink 等数据库收录！ |
