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  • Dynamics  (1)
  • Industrial robots  (1)
  • Key words Unilateral contact  (1)
  • 1
    Electronic Resource
    Electronic Resource
    Unilateral problems of dynamics (1999)
    Springer
    Archive of applied mechanics 69 (1999), S. 503-527 
    Details
    ISSN: 1432-0681
    Keywords: Key words Unilateral contact ; multibody dynamics ; complementarity ; friction ; impact
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary Contact processes may be described by local discretizations, by rigid representation or by mixed methods incorporating both ideas. A rigid body approach is proposed for the dynamics of mechanical systems, achieving good results also for multiple-contact problems. Contacts in multibody systems are mainly considered, with the corresponding contact constraints varying with time, thus generating structure-variant systems. The equations of motion for dynamical systems with such unilateral behavior are discussed, solution methods and applications are presented.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s004190050240
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Optimal trajectory planning with application to industrial robots (1994)
    Springer
    The international journal of advanced manufacturing technology 9 (1994), S. 49-55 
    Details
    ISSN: 1433-3015
    Keywords: Dynamics ; Industrial robots ; Joint elasticity ; Optimal trajectories ; Path planning ; Simulation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A procedure is presented for planning optimal trajectories for application to industrial robots. First, trajectories are optimised by considering the nominal dynamics of a robot with rigid links and joints and with constraints on joint torque and speed. The minimum-time optimisation criterion is complemented by a miminal dynamic energy criterion that leads to smoother actuator inputs that do not excite joint vibrations. Weighting factors for these cost functions are then determined by trial simulations. By these means the effect of controller characteristics and elasticity, friction and backlash in the joints may be taken into account. A minimum-time movement for the real-world robot is obtained which displays the dynamical behaviour predicted in the planning procedure. Results from measurements and simulations for a PUMA 562 robot illustrate the approach. Further improvements may be achieved by a custom controller with the feedforward torques as shown in a comparison of trajectories executed with a VAL2 controller and a custom controller.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01792867
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