Modeling Robot Flexibility for Endpoint Force Control.

Abstract

Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characteristics of the models, and to provide insight into the nature of the flexibility in the robot. Certain models are better able to depict transmission flexibility while others describe types of structural flexibility. (kr)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1988
Accession Number
ADA195923

Entities

People

  • Steven D. Eppinger
  • Warren P. Seering

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Actuators
  • Amplifiers
  • Artificial Intelligence
  • Bandwidth
  • Current Amplifiers
  • Department Of Defense
  • Equations Of Motion
  • Experimental Data
  • Flexible Structures
  • Frequency
  • Frequency Response
  • Power Amplifiers
  • Resonance
  • Resonant Frequency
  • Transfer Functions
  • Vibration
  • Voltage Amplifiers

Readers

  • Computational Modeling and Simulation
  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy