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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chalhoub, Nabil G. Ulsoy, A. Galip |
| Copyright Year | 1990 |
| Description | Author affiliation: Assistant Professor and Associate Member of ASME, Mechanical Engineering Department, Wayne State University, Detroit, Michigan 48202 (Chalhoub, Nabil G.) || Associate Professor and Member of ASME, Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, Michigan 48109 (Ulsoy, A. Galip) |
| Abstract | In addressing the control problem of flexible robot arms, the dynamics of drive mechanisms are often neglected. This leads to inaccurate prediction of the actual behavior of the robotic manipulator through digital simulations, and to a deterioration in the performance of the controller when applied to the physical system. The focus of this study is to demonstrate the effects induced by drive mechanisms. This is done by in incorporating the dynamics of a self-locking leadscrew drive mechanism into the dynamic model of a flexible, spherical robotic manipulator. The self-locking condition and Coulomb friction, inherent in this particular type of drive mechanism, are ignored in the design of the arm controller. The rationale is to isolate the impact of drive mechanisms on the performance of the arm controller. The theoretical and experimental results exhibit qualitatively similar behavior and demonstrate the deterioration in the response of the manipulator due to friction in the drive mechanisms. In addition, the effect of the self-locking condition on the coupling between the various degrees of freedom of the robotic manipulator is discussed. |
| Starting Page | 1270 |
| Ending Page | 1271 |
| File Size | 237152 |
| Page Count | 2 |
| File Format | |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-23 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Robots Torque Yarn Friction Tellurium Actuators Mechanical engineering Force control Manipulator dynamics Fasteners |
| Content Type | Text |
| Resource Type | Article |
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