Abstract
The objectives of this work are the general derivation of a formal description of the equations of motion for a serial robot manipulator with ideal stiff joints subject to kinematic constraints such as complex mechanical couplings between actuator coordinates and joint coordinates. Therefore, the Lagrangian formalism is deployed for generation of the equations of motion. For evaluation, the feasibility and costs of coupling-induced change from general manipulator configuration description within joint space into actuator space are investigated at various stages during generation of equations of motion.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Burdick, J.: An Algorithm for Generation of Efficient Manipulator Dynamic Equations. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 212–218 (1986)
Cui, K., Haque, I., Thirumalai, M.: On Configurations of Symbolic Equations of Motion for Rigid Multibody Systems. Mechanism and Machine Theory 30(8), 1149–1170 (1995)
Featherstone, R., Orin, D.: Robot Dynamics: Equations and Algorithms. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000, vol. 1, pp. 826–834 (2000)
Mata, V., Provenzano, S., Valero, F., Cuadrado, J.I.: Serial-Robot Dynamics Algorithms for Moderately Large Numbers of Joints. Mechanism and Machine Theory 37(8), 739–755 (2002)
Murray, R.M., Li, Z., Sastry, S.S.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton (1994)
Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics. Springer, Berlin (2008)
Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control. Springer, London (2009)
Waiboer, R.R., Aarts, R.G.K.M., Jonker, J.B.: Application of a Perturbation Method for Realistic Dynamic Simulation of Industrial Robots. Multibody System Dynamics 13, 323–338 (2005)
Le Tien, L., Schäffer, A.A., Hirzinger, G.: MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling. In: IEEE International Conference on Robotics and Automation, pp. 3824–3830 (2007)
Chang, S.-L., Tsai, L.-W.: Topological Synthesis of Articulated Gear Mechanisms. IEEE Transactions on Robotics and Automation 6(1), 97–103 (1990)
Chen, D.-Z., Shiue, S.-C.: Topological Synthesis of Geared Robotic Mechanisms. Transactions of the ASME 115, 230–239 (1998)
Liu, C.-P., Chen, D.-Z., Chang, Y.-T.: Kinematic Analysis of Geared Mechanisms Using the Concept of Kinematic Fractionation. Mechanism and Machine Theory 39(11), 1207–1221 (2004)
Becke, M., Schlegl, T.: Toward an Experimental Method for Evaluation of Biomechanical Joint Behavior under High Variable Load Conditions. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 3370–3375 (2011)
ManuCyte: Modular Manufacturing Platform for Flexible, Patient-Specific Cell Cultivation. Fraunhofer Institute for Manufacturing Engineering and Automation (IPA). Nobelstr. 12, D-70569 Stuttgart, http://www.manucyte-project.eu/
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Becke, M., Schlegl, T. (2012). Derivation of Dynamic Equations of Serial Robot Manipulators with Coupled Ideal Joint Motion. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_24
Download citation
DOI: https://doi.org/10.1007/978-3-642-33503-7_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
Online ISBN: 978-3-642-33503-7
eBook Packages: Computer ScienceComputer Science (R0)