Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-28T12:46:29.484Z Has data issue: false hasContentIssue false
  • English
  • Français

On the Dynamic Characteristics of a Redesigned Robot

Published online by Cambridge University Press:  09 March 2009

H. S. Park  and
H. S. Cho
H. S. Park
Affiliation:
Manager, Production Engineering R&D Center, Samsung Electronics Co. Ltd., Suwon (South Korea).
H. S. Cho
Affiliation:
Professer, Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, Seoul (South Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

A robotic manipulator is usually a very complicated system whose dynamics is too complicated time consuming for real-time control. The authors propose general criteria for designing an ideal robot whose dynamics is very much simpler than that of the conventional one. In this paper, dynamic characteristics of an ideally designed robot are investigated. The design guidelines were applied to a 6-degree-of-freedom PUMA 560 robot. Based upon the design concept dynamic equations of the redesigned robot were derived. Utilizing these equations, dynamic characteristics of the redesigned robot are investigated with respect to the computation efforts required, variation of the inertia matrix, joint input torque chracteristics, and couplings between the joints. A detailed comparison study is also made between the redesigned and conventional robots.

Keywords

Ideal robotsDesign guidelinesSimplified dynamicsCoupling measure
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 93 - 98
Copyright
Copyright © Cambridge University Press 1991

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.)

References

1.Yang, D.C.H. and Tzeng, S.W., “Simplification and linearization of manipulator dynamics by the design of inertia distribution” Int. J. Robotics Research 5, No. 3, 120–128 (1986).CrossRefGoogle Scholar
2.Yousef-Toumi, K. and Asada, H., “The design of open-loop manipulator arms with decoupled and configurationinvariant–inertia tensors” ASME J. Dynamic Systems, Measurement, and Control 109, 268–275 (1987).CrossRefGoogle Scholar
3.Chung, W.K., Cho, H.S., Lee, C.W. and Warnecke, H.J., “Performance of robotic manipulators with an automatic balancing mechanism” ASME Winter Annual Meeting, New Orleans, USA 111–121 (1984).Google Scholar
4.Chung, W.K. and Cho, H.S., “On the dynamic characteristics of balanced robotic manipulators” Proceedings of Japan-USA Symposium on Flexible Automation, Osaka, Japan 119–126 (1986).Google Scholar
5.Chung, W.K. and Cho, H.S., “On the dynamics and control of the robotic manipulators with an automatic balancing mechanism” Procs. Instn. Mech. Engrs. 201, No. B1, 25–34 (1987).CrossRefGoogle Scholar
6.Chung, W.K., On the Dynamic Characteristics and Control of Balanced Robotic Manipulators, Ph.D. Thesis (Korea Advanced Institute of Science and Technology, 1987).Google Scholar
7.Chung, W.K. and Cho, H.S., “On the dynamic characteristics of a balanced PUMA-760 robot” IEEE Transactions on Industrial Electronics 35, No. 2, 222–230 (1988).CrossRefGoogle Scholar
8.Park, H.S. and Cho, H.S., “An approach to the design of ideal robotic manipulators having simple dynamic characteristics” Procs. Instn. Mech. Engrs. 201, No. B4, 221–228 (1987).CrossRefGoogle Scholar
9.Armstrong, B., Khatib, O. and Burdick, J., “The explicit dynamic model and parameters of the PUMA 560 arm” Procs. IEEE Int. Conf. on Robotics and Automation 510–518 (1986).Google Scholar
10.Tourassis, V.D. and Newman, C.P., “Properties and structure of dynamic robot models for control engineering applications” Mechanism and Machine Theory 20, No. 1, 27–40 (1985).CrossRefGoogle Scholar
11.Bejczy, A. K. and Paul, R.P., “Simplified robot arm dynamics for control” IEEE Conferences on Decision and Control 261–262 (1981).Google Scholar
12.Youcef-Toumi, K., Analysis, “Design and Control of Direct-Drive Manipulators” Ph.D. Thesis (MIT, 1985).Google Scholar
13.Eun, T., “An Adaptive Hybrid Position/Force Control of Manipulators in Task-oriented Coordinates”, Ph.D. Thesis (KAIST, 1987).Google Scholar