Dynamic compensability and compensability measure for robot systems with structural flexibility

DOI10.1016/S0094-114X(98)00060-3MaRDI QIDQ1301103zbMATH OpenFDO

Authors Zhao-Hui Jiang, Andrew A. Goldenberg

Publication date 15 September 1999

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0094-114X(98)00060-3

zbMATH Keywords

compensability measuredynamic compensabilityellipsoidend-effector acceleration errorflexible robot armsjoint torquelink flexural displacementlinks flexibilitystructural flexibility

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

Review text

The purpose of this very important paper is to study a question concerning the use of the joint torque to compensate for the end-effector acceleration error caused by the links flexibility. The concept of dynamic compensability of flexible robot arms is based on the analysis of the mapping relationships between the joint force, acceleration of link flexural displacement, and the end-effector acceleration error caused by the link flexural acceleration. Main result: A new concept of dynamic compensability of flexibility (based on relationships between joint control torques, acceleration of flexible link and acceleration of end-effector) is introduced. Conditions for the existence of dynamic compensability are given, and properties of dynamic compensability are investigated. A dynamic compensability measure and dynamic compensability ellipsoid are proposed to quantify the degree of dynamic compensability. Finally, the authors illustrate how the theoretical results can be used for the numerical realization of a given model example.

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Cited in

(4)

• A synthesis of the control for the flexible robot under uncertainty of information using indirect compensation
• Flexible torque feed-forward control of robots in the flexible dynamics model
• Evaluation of dynamic capabilities of machines and robots
• Design of a robotic spherical wrist with variable stiffness

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