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  • 1
    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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  • 2
    Electronic Resource
    Electronic Resource
    Dynamics of spatial structure-varying rigid multibody systems (1999)
    Springer
    Archive of applied mechanics 69 (1999), S. 265-285 
    Details
    ISSN: 1432-0681
    Keywords: Key words Multibody system ; contact ; unilateral constraint ; Coulomb friction ; stick-slip ; variational inequality.
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary Couplings in machines and mechanisms exhibiting backlash and friction phenomena can be modeled as multibody systems with unilateral constraints and Coulomb friction. The structure of the differential-algebraic equations describing the system depends on the state of the constraints. The contact forces occurring at active constraints are taken into account in the equations of motion as Lagrange multipliers. Additionally, the kinematic conditions of all active constraints are formulated on the acceleration level. Contact and friction laws are sufficient conditions for state transitions of active constraints, and are represented by nonsmooth characteristics. Several formulations, like the linear complementarity problem, and two different nonlinear systems of equations are presented together with their solution method. The theory is applied to a mechanical system containing three-dimensional and coupled unilateral constraints with friction.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s004190050219
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    Paper (German National Licenses)
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