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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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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Static analysis of a two-member linkage interacting with a given surface (1999)
    Springer
    Archive of applied mechanics 69 (1999), S. 429-442 
    Details
    ISSN: 1432-0681
    Keywords: Key words statics ; two-member linkage ; Coulomb friction ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary The static interaction of a two-member linkage with a given surface is investigated. Dry friction acts at the point of contact of the linkage with the surface. The linkage has two drives generating torques at its joints. The optimal distribution of the joint torques is determined to maximize the friction force at the point of contact. The dependence of this maximal force on the lengths of the links and on the linkage configuration is investigated. The results obtained can be applied to the analysis and optimization of various robotic systems, in particular, manipulators interacting with rough surfaces and walking machines, especially tube-crawling robots.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s004190050232
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    Paper (German National Licenses)
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