General conditions for an ideal robotic manipulator having simple dynamics

A robotic manipulator constructed with a series of links connected by joints has coupled, configuration-variant, and nonlinear dynamic characteristics. There have been several approaches to design conditions to simplify these complex dynamic characteristics. In this article, we examine the energy equation of the robot system and derive general conditions on the link parameters simplifying the energy equation. These conditions are basic conditions by which the physical meaning of the previously proposed design conditions can be interpreted. As a result, we can understand clearly the physical meaning of the robot design conditions and easily obtain the design conditions. With these general conditions, the limitations of the link design in simplifying the robot dynamics are analyzed. Finally, we redesign the PUMA robot as an example and obtain a very simplified robot dynamic equation.
Publisher
Sage Publications Ltd
Issue Date
1991
Language
ENG
Citation

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.10, no.1, pp.21 - 29

ISSN
0278-3649
URI
http://hdl.handle.net/10203/59947
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
  • Hit : 137
  • Download : 0
  • Cited 0 times in thomson ci
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡClick to seewebofscience_button
⊙ Cited 7 items in WoSClick to see citing articles inrecords_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0