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Determination of elastodynamic errors in joints of industrial robots
Published online by Cambridge University Press: 09 March 2009
Summary
This paper presents a method for automatic forming and solving dynamic equations of motion of manipulator with elastic joints and rigid segments. For the minimal configuration of a cylindrical manipulator the numerical integration of these equations is performed, and vibrations in the joints are obtained as dynamic errors with respect to the prescribed trajectory.
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- Copyright © Cambridge University Press 1988
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