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Improvement of dynamic capabilities of heavy robots

Published online by Cambridge University Press:  09 March 2009

V. Potkonjak
Affiliation:
Electrical Engineering Faculty, Bulevar Revolucije 73, 11000 Belgrade, Yugoslavia.
A. Krstulović
Affiliation:
R & D Institute “Brodosplit”, Put udarnika 19, 58000 Split, Yugoslavia.

Summary

The application of heavy robots is usually restricted to those problems where large loads are carried and high speed is not required. This paper proposes a method for the improvement of robot dynamic capabilities thus enabling a heavy robot to perform the fast manipulation. The approach follows the idea of “distributed positioning” and introduces redundancy. The concept adopted is proved on two different configurations: an elbow-scheme manipulation robot and a gantry welding robot.

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Article
Copyright
Copyright © Cambridge University Press 1990

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References

1.Potkonjak, V., “Distributed Positioning for Redundant Robotic Systems” Robotica (in press).Google Scholar
2.Potkonjak, V., “New Approach to the Application of Redundant RobotsProc. 2nd Intl. Conf. on Robotics, Dubrovnik (1989) pp. 373381.Google Scholar
3.Potkonjak, V. and Krstulović, A.Robotic Welding System with Parallel Degrees of FreedomProc. 2nd Intl. Conf. on Robotics, Dubrovnik (1989) pp. 219228.Google Scholar
4.Paul, R., Robot Manipulators (MIT Press, Boston, Mass., 1981).Google Scholar
5.Lee, C.S.G. and Ziegler, M., “A Geometric Approach in Solving the Inverse Kinematics of PUMA RobotsIEEE Trans. Aerospace and Electronic Systems, AES-20, No. 6, 695706 (1984).CrossRefGoogle Scholar
6.Vukobratović, M. and Potkonjak, V., Applied Dynamics and CAD of Manipulation Robots (Springer-Verlag, Berlin, 1985).CrossRefGoogle Scholar
7.Orin, D.E. & Schrader, W.W., “Efficient Computation of the Jacobian for Robot ManipulatorsIntl. J. Robotics Res. 3, No. 4, 6675 (1984).CrossRefGoogle Scholar
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