Research on dynamic performance and motion control of robot manipulator

被引：0

作者：

Zhu, Lida ^{[1
]}

Gu, Zhiang ^{[1
]}

Shi, Jiashun ^{[1
]}

Liu, Wenwen ^{[1
]}

机构：

[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Peoples R China

来源：

JOURNAL OF VIBROENGINEERING | 2015年 / 17卷 / 06期

基金：

中国国家自然科学基金;

关键词：

robot gripper; workspace; dynamic performance; motion control; modeling; FINITE-ELEMENT-ANALYSIS; INVERSE-KINEMATICS; SIMULATION;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Amongst the robotics and autonomous systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. In this paper, the purpose is to research on dynamic performance and motion control of robot manipulator for the more precise, crucial and critical tasks in industry. Firstly, the forward and inverse kinematics was accurately described by obtaining the link transformation matrices from each joint in robot manipulator. To find admissible solutions along the path, the workspace of the manipulator was determined by joint limit condition and validated by actual measurement. And then, the dynamic performance of robot manipulator is researched by using the forming flexible multi-body system. Furthermore, the frequency response curves are obtained by exciting vibration simulation based on vibration model, which the predicted method was validated by comparing simulation and experimental results. Finally, the control system architecture was given and the grasping process was conducted by gripper based on motion trajectory control in the workspace.

引用

页码：3092 / 3103

页数：12

共 21 条

[1]

Ali Attia Hazem, 2003, ADV MODELING ANAL, V7, P11

[2]

Altintas Y, 2005, CIRP ANN-MANUF TECHN, V54, P651

[3] Differential and inverse kinematics of robot devices using conformal geometric algebra [J].

Bayro-Corrochano, Eduardo ;

Zamora-Esquivel, Julio .

ROBOTICA, 2007, 25 :43-61

[4]

Braunl T., 2006, International Journal of Advanced Robotic Systems, V3, P99

[5]

Craig J.J., 2005, INTRO ROBOTICS MECH, V3

[6] Finite element analysis of the geometric stiffening effect.: Part 2:: non-linear elasticity [J].

García-Vallejo, D ;

Sugiyama, H ;

Shabana, AA .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2005, 219 (02) :203-211

[7] Finite element analysis of the geometric stiffening effect.: Part 1:: a correction in the floating frame of reference formulation [J].

García-Vallejo, D ;

Sugiyama, H ;

Shabana, AA .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2005, 219 (02) :187-202

[8] Positional FEM formulation for flexible multi-body dynamic analysis [J].

Greco, M ;

Coda, HB .

JOURNAL OF SOUND AND VIBRATION, 2006, 290 (3-5) :1141-1174

[9]

Guan-zheng Tan, 2003, Control Theory & Applications, V20, P185

[10] Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging [J].

Hayashibe, Mitsuhiro ;

Suzuki, Naoki ;

Hashizume, Makoto ;

Konishi, Kozo ;

Hattori, Asaki .

COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE, 2006, 83 (01) :63-72

← 1 2 3 →