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A semi-flexible kinematic model for serial manipulators

Published online by Cambridge University Press:  09 March 2009

Louise Cléroux,
Richard Gourdeau and
Guy M. Cloutier
Louise Cléroux
Affiliation:
Dépt, de Génie industriel, École Poly technique de Montréal, Montréal, Québec (Canada) H3C 3A7
Richard Gourdeau
Affiliation:
Dépt, de Génie industriel, École Poly technique de Montréal, Montréal, Québec (Canada) H3C 3A7
Guy M. Cloutier
Affiliation:
Dépt, de Génie industriel, École Poly technique de Montréal, Montréal, Québec (Canada) H3C 3A7
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Summary

Structural and control flexibilities affect the absolute precision of serial manipulators. A semi-flexible kinematic model is developed, to improve the absolute static precision. It expands the solid body model by incorporating a spring effect for each joint and a beam effect for each link. Simulation results confirm the adequacy of the model. The dependencies existing between the articulate posture of the manipulator, the effects of the external efforts and the gravitational load on the global structure are properly described. The identifiability of the added parameters is explored on a RR planar robot. It requires efforts and pose errors to be known in the tool frame only.

Keywords

ManipulatorsRobotsFlexibilityModelingCalibrationIdentification

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995, pp. 385 - 395
Copyright
Copyright © Cambridge University Press 1995

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