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Contribution to the dynamics and control of robots having elastic transmissions

Published online by Cambridge University Press:  09 March 2009

V. Potkonjak
Affiliation:
Robotic Dept., Electrical Engineering Faculty, University of Belgrade, Bulevar Revolucije 73, 11000-Belgrade (Yugoslavia)

Summary

This paper discusses one problem of robot dynamics rarely mentioned in papers relevent to this field. It is the problem of torsional effects in torque transmissions (reducers, shafts, transmission chains, etc.). The problem is significant since oscillations can appear to be due to these effects. The complete dynamic model, which includes these effects, is derived and the possible simplifications considered. The position of feedback transducers is discussed since it appears as an important problem when it is intended to minimize the influence of these elastic vibrations. The discussion is based on eigenvalues and simulation results.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1988

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References

1.Vukobratović, M., Legged Locomotion Robots and Anthropomorplic Mechanisms (Institute “M. Pupin”, Belgrade, Yugoslavia, 1975).Google Scholar
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3.Vukobratović, M. & Potkonjak, V., “Contribution to Automatic Forming of Active Chain Models Via Lagrangian Form” ASME J. Applied Mechantcs No. 1, 181185 (1979).CrossRefGoogle Scholar
4.Paul, R., Luh, J., Bender, J., Brown, R., Ramington, M. and Walker, M., “Advanced Industrial Robot Control System”, First Report, School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907 (1979).Google Scholar
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7.Vukobratović, M. & Potkonjak, V.Applied Dynamics and CAD of Manipulation Robots (Springer-Verlag, Berlin, 1985).CrossRefGoogle Scholar
8.Good, M.C., Sweet, L.M. & Strobel, K.L., “Dynamics Models for Control Systems Design of Intergrated and Drive Systems, J. Dynamic Systems, Measurements and Control 107, 5359 (03, 1985).Google Scholar
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