Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning

DOI10.1016/J.MECHMACHTHEORY.2010.01.006zbMATH Open1359.70008OpenAlexW2009351274MaRDI QIDQ994154FDOQ994154

Authors: Wanghui Bu, Zhenyu Liu, Jianrong Tan, Shuming Gao 

Publication date: 17 September 2010

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.01.006

Recommendations

• The effects of joint clearance on position and orientation deviation of linkages and manipulators
• Workspace analysis of positioning discontinuities due to clearances in parallel manipulators
• On redundancy resolution in minimum-time trajectory planning of robotic manipulators along predefined end-effector paths
• Position and force control of flexible joint robots during constrained motion tasks
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

zbMATH Keywords

robotic manipulatortrajectory planningjoint clearancedynamic response spectrum

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• The FEM analysis and approximate model for cylindrical joints with clearances
• The effects of joint clearance on position and orientation deviation of linkages and manipulators
• A study on dynamics of mechanical systems including joints with clearance and lubrication
• Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality
• Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects
• Clearance influence analysis on mechanisms
• Accuracy analysis of a multi-loop linkage with joint clearances
• Kinematic sensitivity analysis of the 3-UPU parallel mechanism
• Identification of clearances and stability analysis for a rotor-journal bearing system

Cited In (3)

• Modeling and control of crank-slider mechanism with multiple clearance joints
• Workspace analysis of positioning discontinuities due to clearances in parallel manipulators
• A new model for dry and lubricated cylindrical joints with clearance in spatial flexible multibody systems

This page was built for publication: Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q994154)