The dynamics of a manipulator with flexible joints

Authors
Reshmin, SA
Citation
Sa. Reshmin, The dynamics of a manipulator with flexible joints, J COMP SYST, 40(4), 2001, pp. 670-678
Citations number
12
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL
ISSN journal
10642307 → ACNP
Volume
40
Issue
4
Year of publication
2001
Pages
670 - 678
Database
ISI
SICI code
1064-2307(200107/08)40:4<670:TDOAMW>2.0.ZU;2-N
Abstract
The dynamic problem of controlling manipulator robots whose links are conne cted by flexible joints with elastic compliance is solved by a semianalytic al approach based on the averaging method. The case when the stiffness of t he elastic elements and the gear ratios of the reducers of the electric dri ve are large is investigated. The results can be used for the improvement o f the methodologies of the mathematical simulation of robotic systems.