MODELING THE SPATIAL DYNAMICS OF ROBOTIC MANIPULATORS WITH FLEXIBLE LINKS AND JOINT CLEARANCES

A dynamic modeling method is presented for spatial elastic manipulator s that can account for a number of their realistic properties, includi ng bearing clearances, actuator dynamics, and control system character istics. Forces in the bearing clearances are modeled by nonlinear func tions of the links' relative motions and the internal geometry of the connection, or by experimentally measured properties. A detailed model is given for a revolute connection with radial and axial clearances. Results obtained for a SCARA manipulator show that the combined dynami c effects of bearing clearances, link elasticity, and control system c haracteristics can significantly degrade the system's performance.