Modal sensitivity analysis of planar robots, based on a simplified CMS approach

DOI10.1002/ROB.4620080403MaRDI QIDQ3350902zbMATH OpenOpenAlexFDO

Authors

Publication date 1991

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620080403

zbMATH Keywords

automatic coordinate reduction procedurecomponent mode synthesislow-order monomialsmodal properties of industrial robotsout-of-plane modal analysisplanar robot with revolute joints

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Dynamic modeling and mode analysis of flexible-link, flexible-joint robots.
• Modal Control of Fast Large-Scale Robot Motions
• Mode shape analysis, modal linearization, and control of an elastic two-link manipulator based on the normal modes
• scientific article; zbMATH DE number 3965918
• Configuration-dependent modal analysis of a Cartesian parallel kinematics manipulator: numerical modeling and experimental validation

Cites work

• Differential and difference sensitivities of natural frequencies and mode shapes of mechanical structures
• Vibration Analysis of Structures by Component Mode Substitution

Cited in

(2)

• Configuration-dependent modal analysis of a Cartesian parallel kinematics manipulator: numerical modeling and experimental validation
• Sensitivity comparison of planar parallel manipulators

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