Model of Robot with Additional Flexible Deformation Sensing for Improved Control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F14%3A00228957" target="_blank" >RIV/68407700:21220/14:00228957 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
Model of Robot with Additional Flexible Deformation Sensing for Improved Control
Original language description
The aim of this paper is the development of a dynamic model of robot Mitsubishi RV-6S. The model is assembled using the composite method for the flexible bodies. The whole robotic structure is described using the relative coordinates in the joints expressing the movement of the arms. Their deformation is described using the modal coordinates. The deformation is considered to be a linear combination of the modal shapes and modal coordinates are the coefficients of this combination, which is time dependent. The modal shapes have been obtained using FEM analysis of the particular parts. Their geometry is obvious from the CAD model and the parameters of mass and stiffness have been estimated based on the material of them.
Czech name
—
Czech description
—
Classification
Type
O - Miscellaneous
CEP classification
JR - Other machinery industry
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/GA13-39057S" target="_blank" >GA13-39057S: Position Feedback Based Stiness Increase of Robots by Redundant Measurement</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů