Model of Robot with Additional Flexible Deformation Sensing for Improved Control

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Model of Robot with Additional Flexible Deformation Sensing for Improved Control

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Model of Robot with Additional Flexible Deformation Sensing for Improved Control

Popis výsledku anglicky

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.

Druh

O - Ostatní výsledky

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

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Projekt

<a href="/cs/project/GA13-39057S" target="_blank" >GA13-39057S: Zvyšování tuhosti robotů pomocí polohové zpětné vazby a redundantního měření</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů