Singular perturbation model of robots with elastic joints and elastic links constrained by rigid environment (Q1264556): Difference between revisions

The contribution of this paper lies in the modelling methodology of robotic manipulators with flexible joints and links, subject to a contact with a stiff environment. The model of the dynamics of such a manipulator is provided in terms of a finite number of rigid and flexible coordinates describing the link dynamics, while the joint flexibility is accounted for classically according to Spong's simplified model. Eventually, the following model is derived: \[ M(q_r,q_f)\left[\begin{matrix} \ddot q_r\\ \ddot q_f\end{matrix}\right]+ \left[\begin{matrix} h_r(q_r, \dot q_r, q_f, \dot q_f)\\ h_f(q_r, \dot q_r, q_f,\dot q_f)\end{matrix}\right]+ \left[\begin{matrix} g_r(q_r, q_f)\\ g_f(q_r, q_f)\end{matrix}\right]+ \left[\begin{matrix} K_J(q_m- q_r)\\ K_f q_f\end{matrix}\right]= \left[\begin{matrix} A^T_r(q_r, q_f)\\ A^T_f(q_r, q_f)\end{matrix}\right] \lambda, \] \[ J_m\ddot q_m- K_J(q_m- q_r)= u, \] where \(q_r\), \(q_f\), \(q_m\) denote, respectively, the rigid, the flexible, and the actuator coordinates, and the matrices \(A^T_r\), \(A^T_f\) contain suitable partial derivatives of the constraint equation \(\Phi(q_r, q_f)= 0\). Under the assumption that the constraint equation can be solved with respect to a part of the rigid vector, the model is further reduced resulting in the elimination of the Lagrange multipliers \(\lambda\). Finally, a singularly perturbed version of the dynamics model is introduced. A model corresponding to the general singularly perturbed model with specific cases of rigid joints and flexible links as well as of elastic joints and rigid links is obtained.