Hostname: page-component-7b7567c8c-lpg2g Total loading time: 0 Render date: 2026-11-15T09:45:23.374Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic Characteristics of Balanced Robotic Manipulators with Joint Flexibility

Published online by Cambridge University Press:  09 March 2009

S.B. Lee and
H.S. Cho
S.B. Lee
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science & Technology, P.O. Box 150, Chongryangri, Seoul (Korea)
H.S. Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science & Technology, P.O. Box 150, Chongryangri, Seoul (Korea)
Get accessRights & Permissions [Opens in a new window]

Summary

The mass balancing of robotic manipulators has been shown to have favorable effects on the dynamic characteristics. In actual practice, however, since conventional manipulators have flexibility at their joints, the improved dynamic properties obtainable for rigid manipulators may be influenced by those joint flexibilities. This paper investigates the effects of the joint flexibility on the dynamic properties and the controlled performance of a balanced robotic manipulator. The natural frequency distribution and damping characteristics were investigated through frequency response analyses. To evaluate the dynamic performance a series of simulation studies of the open loop dynamics were made for various trajectories, operating velocities, and joint stiffnesses. These simulations were also carried out for the balanced manipulator with a PD controller built-in inside motor control loop. The results show that, at low speed, the joint flexibility nearly does not influence the performance of the balanced manipulator, but at high speed it tends to render the balanced manipulator susceptible to vibratory motion and yields large joint deformation error.

Keywords

Joint flexibilityMass balancingRobotsDynamic characteristic.

Information

Type
Research Article
Information
Robotica , Volume 10 , Issue 6 , November 1992, pp. 485 - 495
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Luh, J.Y.S., Walker, M.W. and Paul, R.P.C., “Resolved–acceleration control of mechanical manipulators” IEEE Trans. on Automatic Control AC 25, No. 3, 468–474 (1980).CrossRefGoogle Scholar
2.Lee, C.S.G. and Chung, M.J., “An adaptive control strategy for mechanical manipulator” IEEE Trans. on Automatic Control AC–29, No. 9, 837–840 (1984).CrossRefGoogle Scholar
3.Toumi, K.Y. and Asada, H., “The design of open–loop manipulator arms with decoupled and configuration–invariant inertia tensors” ASME J. of Dyn. Sys., Meas, and Cont. 109, 268–275 (1987).CrossRefGoogle Scholar
4.Chung, W.K. and Cho, H.S., “On the dynamics and control of robotic manipulators with an automatic balancing mechanism” Procs. Institution of Mechanical Engineers 201, No. B1, 25–34 (1987).CrossRefGoogle Scholar
5.Chung, W.K. and Cho, H.S., “On the dynamic characteristics of a balanced PUMA-760 robot” IEEE Trans. on Industrial Electronics IE 35, No. 2, 222–230 (1988).CrossRefGoogle Scholar
6.Park, H.S. and Cho, H.S., “An approach to the design of ideal robotic manipulators having simple dynamic characteristics” Procs. Institution of Mechanical Engineers 201, No. B4, 221–228 (1987).CrossRefGoogle Scholar
7.Chung, W.K., On The Dynamic Characteristics And Control Of Balanced Robotic Manipulators, Ph.D. Thesis (Department of Production Engineering, KAIST, Korea, 1987).Google Scholar
8.Moon, J. I., Chung, W.K., Cho, H.S. and Gweon, D.G., “A dynamic parameter identification method for the PUMA-760 Robot” 16th ISIR, Brussels 55–65 (09, 1986).Google Scholar
9.Sweet, L.M. and Good, M.C., “Redefinition of the robot motion control problem” IEEE Control System Magazine 18–25 (08, 1985).CrossRefGoogle Scholar
10.Ahmad, S., “Analysis of robot drive train errors, their static effects, and their compensations” IEEE Trans. J. of Robotics and Automation RA–4, No. 2, 117–128 (1988).CrossRefGoogle Scholar
11.Chiou, B.C. and Shahinpoor, M., “The effects of joint and link flexibilities on the dynamic stability of force controlled manipulators” IEEE Conf. on Robotics and Automation 398–403 (1989).Google Scholar
12.Good, M.C., Sweet, L.M. and Strobel, K.L., “Dynamic models for control system design of integrated robot and drive systems” ASME J. Dyn. Sys., Meas., and Cont. 107, 53–59 (1985).CrossRefGoogle Scholar
13.Spong, M.W., “Modeling and control of elastic joint manipulators” ASME J. Dyn. Sys., Meas., and Cont. 109, 310–319 (1987).CrossRefGoogle Scholar
14.Potkonjak, V., “Contribution to the dynamics and control of robots having elastic transmissions” Robotica 6, part 1, 63–69 (1988).CrossRefGoogle Scholar
15.Whitney, D.E., Lozinski, C.A. and Rourke, J.M., “Industrial robot forward calibration method and results” ASME J. Dyn. Sys., Meas., and Cont. 108, 1–8 (1986).CrossRefGoogle Scholar
16.Widmann, G.R. and Ahmad, S., “Control of industrial robots with flexible joints” IEEE Conf. on Robotics and Automation 1561–1566 (1987).Google Scholar
17.Marino, R. and Nicosia, S., “On the control of robots with elastic joints” ACC, Boston, 69–70 (1985).Google Scholar
18.Harokopos, E.G. and Mayne, R.W., “Motor characteristics in the control of a compliant load” J. Guidance 9, No. 10, 113–118 (1986).CrossRefGoogle Scholar
19.Dado, M.H.F. and Soni, A.H., “Dynamic response analysis of 2–R robot with flexible joints” IEEE Conf. on Robotics and Automation 479–483 (1987).Google Scholar
20.Nikolic, I., “Determination of elastodynamic errors in joints of industrial robots” Robotica 6, part 3, 213–219 (1988).CrossRefGoogle Scholar
21.Kamiya, Y., Okabe, S. and Yokoyama, Y., “Speed up the motions and the vibration problem” Science of Machine (in Japanese) 38, No. 1, 46–50 (1986).Google Scholar