SME MS910333

THIS PAPER DEVELOPS A SYSTEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS USING SOME USEFUL GUIDELINES. IN FORMING A CLOSED LOOP, MANY PAIRS ARE USED IN REDUNDANCY DUE TO SIMPLE MANUFACTURING AND HIGH STIFFNESS, WHICH IN RETURN GENERATE REDUNDANCY AND PASSIVITY PROBLEMS IN MODELING. THE REDUNDANCY OF A CLOSED LOOP AND MUTUAL RELATIONSHIPS BETWEEN THE KINEMATIC LOWER PAIRS ARE STUDIED FOR PROPER KINEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS. THE ALGORITHM BASED ON THE STUDY PROVIDES A TROUBLE-FREE MODELING OF A ROBOT WITH CLOSED LOOPS AS SHOWN IN THE EXAMPLES.

Product Details

Published:

06/01/1991

Number of Pages:

13

File Size:

1 file , 730 KB