Determination of elastodynamic errors in joints of industrial robots
- 1 July 1988
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 6 (3) , 213-219
- https://doi.org/10.1017/s026357470000432x
Abstract
SUMMARY This paper presents a method for automatic forming and solving dynamic equations of motion of manipulator with elastic joints and rigid segments. For the minimal configuration of a cylindrical manipulator the numerical integration of these equations is performed, and vibrations in the joints are obtained as dynamic errors with respect to the prescribed trajectory.Keywords
This publication has 3 references indexed in Scilit:
- On the Dynamic Analysis and Behavior of Industrial Robotic Manipulators With Elastic MembersJournal of Mechanical Design, 1983
- The Application of Finite Element Methods to the Dynamic Analysis of Flexible Spatial and Co-Planar Linkage SystemsJournal of Mechanical Design, 1981
- Dynamics of articulated open-chain active mechanismsMathematical Biosciences, 1976