Application of a perturbation method for realistic dynamic simulation of industrial robots

DOI10.1007/S11044-005-6317-YMaRDI QIDQ556672zbMATH OpenOpenAlexFDO

Authors R. R. Waiboer, R. G. K. M. Aarts, J. B. Jonker

Publication date 22 June 2005

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-005-6317-y

zbMATH Keywords

finite element modellingperturbation methodLuGre friction modelclosed-loop trajectory simulationindustrial robotrealistic dynamic simulation

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Perturbation methods for rigid body dynamics (70E20)

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Cites work

• A new model for control of systems with friction
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• An integrated friction model structure with improved presliding behavior for accurate friction compensation
• Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation

Cited in

(3)

• Simulation of industrial manipulators based on the UDU^T decomposition of inertia matrix
• scientific article; zbMATH DE number 3868681 (Why is no real title available?)
• Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers

Describes a project that uses

Uses Software

• SPACAR
• Simulink
• Matlab

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