Last edited by Tugami
Sunday, August 16, 2020 | History

4 edition of Flexible joint robots found in the catalog.

Flexible joint robots

by Mark C. Readman

  • 330 Want to read
  • 15 Currently reading

Published by CRC Press in Boca Raton [Fla.] .
Written in English

    Subjects:
  • Robots -- Dynamics.

  • Edition Notes

    Includes bibliographical references (p. 125-134) and index.

    StatementMark C. Readman.
    SeriesMechatronics series
    Classifications
    LC ClassificationsTJ211.4 .R43 1994
    The Physical Object
    Paginationxi, 145 p. :
    Number of Pages145
    ID Numbers
    Open LibraryOL1092609M
    ISBN 10084932601X
    LC Control Number94016951

    The rigid-joint dynamics model was pursued further to study a manipulator with flexible joints modeled with linear- and nonlinear-joint stiffness models. Then, the two rigid-joint control schemes were modified using the singular perturbation-based theory and applied for the control of both linear and nonlinear flexible-joint robot models. Flexible Joint Robots Abstract This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots are summa-rized, and the relations between the individual contributions are highlighted.

    Home Browse by Title Periodicals Systems Analysis Modelling Simulation Vol. 38, No. 2 Singular perturbation-based control of flexible joint robots article Singular perturbation-based control of flexible joint robots. Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics Shuyang Chen1, Student Member, IEEE and John T. Wen2, Fellow, IEEE Abstract—Fast and precise motion control is important for industrial robots in manufacturing applications. However, some.

    Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are . Chris is interested in precision control of rigid-link flexible-joint robots, where the tip position is kept within millimeter accuracy by actively compensating for all the flexibility in the joints. Chris has a flexible-joint robot built by Quanser in his lab (pictured here) where the elasticity comes from actual springs in the joints.


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Flexible joint robots by Mark C. Readman Download PDF EPUB FB2

Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design.

The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate Cited by: Cartesian Impedance Control of Redundant and Flexible-Joint Robots (Springer Tracts in Advanced Robotics (49)) Softcover reprint of hardcover 1st ed.

Edition by Christian Ott (Author) › Visit Amazon's Christian Ott Page. Find all the books, read about the author, and more. See search Cited by: After a general introduction into the topics of impedance control, the book focuses on two key issues, namely the treatment of joint flexibility and kinematic redundancy.

Several control laws are developed based on mature approaches such as the singular perturbation. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard.

Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. Dynamic Modeling of Deformable. The robotics literature of the last two decades contains many important advances in the control of flexible joint robots.

This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint by: Browse Books. Home Browse by Title Books Cartesian Impedance Control of Redundant and Flexible-Joint Robots.

Cartesian Impedance Control of Redundant and Flexible-Joint Robots August August Read More. Author: Christian Ott; Publisher: Springer Publishing Company, Incorporated; ISBN: for flexible joint robots based on joint torque feedback. Motion control issues of flexible joint robots are addressed first.

A two-stage control scheme, consisting of a motion controller and a joint torque controller. is established in a systematic way for controlling flexible joint robots in the general n. Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dy-namic model of flexible joint robots is required.

The models that are commonly used ignore the gyroscopic interactions between the motors and links. An adaptive control approach is presented to control the position and force of flexible joint robot manipulators interacting with rigid environment when the robot parameters are uncertain and an observer is used to estimate the state vector used in the feedback.

A feedback linearizable fourth order model of the flexible joint robot is constructed. In the face of the benefits, the biggest disadvantage in flexible robots is the vibration phenomenon.

Usually, flexibility in robots can be considered as rigid-link flexible-joint (RLFJ), flexible-link rigid-joint (FLRJ) or flexible-link flexible-joint (FLFJ). Flexible joint robot manipulators are highly complicated mechanical systems. Consider a n-link flexible joint robot, with time-varying stiffness matrix satisfying.

The full state feedback controller, with the signals ε j, e j, ϑ T j, j ∈ {q, v q, θ, v θ} as defined in and, solves the RPPC problem for Flexible Joint Robots. Proof. The. Albu-Schäffer, A. and Hirzinger, G., “State Feedback Controller for Flexible Joint Robots: A Globally Stable Approach Implemented on DLR's Light-Weight Robots,“ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan (Nov.

) pp. –, doi: /IROS Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design.

The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate. Joint flexibility is common in industrial robots that have geared joints.

In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dynamic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. This paper contributes by presenting a parameter identification procedure for n -degrees-of-freedom flexible joint robot manipulators.

An advantage of the given procedure is the obtaining of robot. A manoeuvre control strategy for flexible-joint manipulators with joint dry friction - Volume 28 Issue 4 - H. Salmasi, R. Fotouhi, P. Nikiforuk. In contrast, robotic systems with flexible links and/or joints offer lightweight, reduced inertia, low manufacturing cost and permit faster movements [, ].

The applications of these flexible. In this paper, a novel type of impedance controllers for flexible joint robots is proposed. As a target impedance, a desired stiffness and damping are cons On the Passivity-Based Impedance Control of Flexible Joint Robots - IEEE Journals & Magazine.

We show that by a suitable nonlinear feedback, the manifold in state space which describes the dynamics of the rigid manipulator, that is, the manipulator without joint elasticity, can be made invariant under solutions of the elastic joint system. The implications of this result for the control of elastic joint robots.

Cartesian Impedance Control of Redundant and Flexible-Joint Robots. Authors: Ott, Christian Free Preview. Complete treatment of Cartesian impedance control problem for robots with flexible joints After a general introduction into the topics of impedance control, the book focuses on two key issues, namely the treatment of joint flexibility.

Cartesian Impedance Control of Redundant and Flexible-Joint Robots Christian Ott (auth.) This monograph is devoted to the classical topic of impedance control, which has recently seen renewed interest following advances in the mechanical design of lightweight robotic systems with improved actuation and sensing capabilities.joint control, the motor position and the joint torque signals based on strain gauge technology are available.

The new robot (Fig. 1) is equipped with link position sensors as well. Additionally, a 6-d.o.f. force-torque sensor is integrated in the robot’ s wrist.

Both robots are redundant 7-d.o.f. manipulators. Theuse of a‘ oating Figure1.§nonlinear flexible joints share similar control properties §nonlinearstiffness characteristics are needed instead in VSA §a (serial or antagonistic) VSA working at constant stiffness is an elastic joint §flexible joint robots are classified as underactuatedmechanical systems §have .