Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-25T05:28:41.707Z Has data issue: false hasContentIssue false
  • English
  • Français

Joints flexibility effect on the dynamic performance of robots

Published online by Cambridge University Press:  08 April 2014

Mohamed H. Zaher  and
Said M. Megahed
Mohamed H. Zaher*
Affiliation:
Mechanical Design and Production Engineering Department, Cairo University, Giza 12613, Egypt
Said M. Megahed
Affiliation:
Mechanical Design and Production Engineering Department, Cairo University, Giza 12613, Egypt
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper studies the effect of joint flexibility on the dynamic performance of a serial spatial robot arm of rigid links. Three models are developed in this paper. The first and the third models are developed using the multibody dynamics approach, while the second using the classical robotics approach. A numerical algorithm and an experimental test-rig are developed to test the final model. The links' inertial parameters are estimated numerically. Empirical formulae with assumption models are used to estimate the flexibility coefficients. The simulation results show that the joint damping is a major source of inaccuracies, causing trajectory error without a proper feedback controller.

Keywords

Flexible jointRobotMultibodyModelingKinematically constrained dynamic system simulationDenavit–Hartenberg
Type
Articles
Information
Robotica , Volume 33 , Issue 7 , August 2015 , pp. 1424 - 1445
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Spong, M. W., “Modeling and control of elastic joint robots,” J. Dyn. Syst., Measure. Control 109 (4), 310–319 (1987).Google Scholar
2. Ciuca, F., Lahdhiri, T. and ElMaraghy, H. A., “Linear Robust Motion Control of Flexible Joint Robots Part A: Modeling,” Proceedings of the American Control Conference, San Diego, CA, vol. 1 (Jun. 2–4, 1999) pp. 699–703.Google Scholar
3. Potkonjak, V., “Contribution to the dynamics and control of robots having elastic transmission,” Robotica 6, 63–69 (1988).Google Scholar
4. Jankowski, K. P. and Van Brussel, H., “Inverse dynamics task control of flexible joint robots – Part I: Continuous time approach, Part II: Discrete-time approach,” Mech. Mach. Theory 28 (6), 741–762 (1993).Google Scholar
5. Subudhi, B. and Morris, A. S., “Dynamic modeling, simulation and control of a manipulator with flexible links and joints,” Robot. Auton. Syst. 41, 257–270 (2002).Google Scholar
6. Flores, P., Ambrosio, J., Claro, J. C. P., Lankarani, H. M. and Koshy, C. S., “A study on dynamics of mechanical systems including joint clearance and lubrication,” Mech. Mach. Theory 41, 247–261 (2006).Google Scholar
7. Heidari, A. and Nikoobin, A., “Maximum Allowable Dynamic Load of Flexible Manipulators with Imposing Residual Vibration Constraint,” Proceedings of the IEEE International Conference on Robotics and Biomimetics, Sanya (Dec. 15–18, 2007) pp. 1457–1462.Google Scholar
8. Le Tien, L., Albu-Schäffer, A., De Luca, A., Hirzinger, G., “Friction Observer and Compensation for Control of Robots with Joint Torque Measurement,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice (Sep. 22–26, 2008) pp. 3789–3795.Google Scholar
9. Melhem, K. and Loria, A., “A New Model for Flexible Joint Robots,” IFAC, 15th Triennial World Congress, 2002.Google Scholar
10. Ott, C., Albu-Schäffer, A., Kugi, A., and Hirzinger, G., “On the passivity-based impedance control of flexible joint robots,” IEEE Trans. Robot. 24 (2), 416–429 (2008).Google Scholar
11. Ider, S. K. and Korkmaz, O., “Trajectory tracking control of parallel robots in the presence of joint drive flexibility,” J. Sound Vibrat. 319, 77–90 (2009).Google Scholar
12. Dahai, J. and Xiaoping, L., “On-line identification of time-varying physical parameters of robot joint based on harmonic propagation,” Chinese J. Mech. Eng. 45 (3), 296–301 (2009).Google Scholar
13. Yang, W., Kwon, J., Chong, N.Y. and Oh, Y., “Biologically inspired robotic arm control using an artificial neural oscillator,” Hindawi Publishing Corporation Mathematical Problems in Engineering 2010, Article ID 107538, 16 pages. doi:10.1155/2010/107538.Google Scholar
14. Talole, S. E., Kolhe, J. P. and Phadke, S. B., “Extended-extended-state-observer-based control of flexible-joint system with experimental validation,” IEEE Trans. Ind. Electron. 57 (4), 1411–1419 (2010).Google Scholar
15. Akyuz, I. H., Yolacan, E., Ertunc, H. M. and Bingul, Z., “PID and State Feedback Control of a Single-Link Flexible Joint Robot Manipulator,” Proceedings of IEEE International Conference on Mechatronics, Istanbul, Turkey (Apr. 13–15, 2011) pp. 409–414.Google Scholar
16. Xue, G., Ren, X., Xing, K. and Chen, Q., “Discrete-Time Sliding Mode Control Coupled with Asynchronous Sensor Fusion for Rigid-Link Flexible-Joint Manipulators,” IEEE International Conference on Control and Automation, Hangzhou (Jun. 12–14, 2013) pp. 238–243.Google Scholar
17. Shabana, A. A., Computational Dynamics (John Wiley and Sons, New York, USA, 1994).Google Scholar
18. Zaher, M., Modeling and Simulation of Joints' Flexebility on the Dynamic Performance of Spatial Robots M.Sc. Thesis (Cairo University, Egypt, 2009).Google Scholar
19. Nada, A. A., Hussein, B. A., Megahed, S. M. and Shabana, A. A., “Floating Frame of Reference and Absolute Nodal Coordinate Formulations in the Large Deformation Analysis of Robotic Manipulators: A Comparative Experimental and Numerical Study,” Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2009, San Diego, USA (Aug. 30–Sep. 2, 2009).Google Scholar
20. Nada, A. A., Flexible Robotic Manipulators: Modeling, Simulation and Control with Experimentation, Doctoral Dissertation (Cairo University, Egypt, 2007).Google Scholar
21. Koivo, A. J., Fundamentals for Control of Robotic Manipulators (John Wiley and Sons, New York, USA, 1989).Google Scholar
22. Megahed, S. M., Principles of Robot Modeling and Simulation (John Wiley and Sons, New York, USA, 1993).Google Scholar
23. Eschmann, P., Hasbargen, L. and Weigand, K., Die Wälzlagerpraxis, 2nd ed. (R. Oldenbourg Verlag, Munich, Germany, 1978).Google Scholar