Dynamic modeling of robot joints

Gy Mester, Sz Pletl, I. J. Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A new approach to the dynamic modeling of robot manipulators with rigid-link flexible-Joints actuated by elastic gears is presented. The gear wheels are Joined by the tooth spring defined in the normal direction to the tooth. Because of the varying number of meshing teeth the tooth torsional stiffness of the driving and the driven units is a periodically time-dependent function. Joints flexibility, as a predominant source of resonance, often results in inaccurate tracking of prescribed robot trajectories. The dynamic model of the robot with rigid-link flexible-joints is presented on a concrete example of the robot's basic configuration for two DOF, as the second and the third joints of PUMA 560.

Original languageEnglish
Title of host publicationIEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publicationTechnology for the Intelligent Factory - Proceedings, ETFA 1992
EditorsR. Zurawski, T.S. Dillon
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages561-565
Number of pages5
ISBN (Electronic)0780308867
DOIs
Publication statusPublished - Jan 1 1992
Event1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia
Duration: Aug 11 1992Aug 14 1992

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume1992-August
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
CountryAustralia
CityMelbourne
Period8/11/928/14/92

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Computer Science Applications

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  • Cite this

    Mester, G., Pletl, S., & Rudas, I. J. (1992). Dynamic modeling of robot joints. In R. Zurawski, & T. S. Dillon (Eds.), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (pp. 561-565). [683315] (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683315