In this paper some aspects of the dynamical behaviour of a two degree of freedom plain manipulator with non rigid transmission between servomotors and links are reported. A technique to compute appropriate servomotors laws of motion to obtain the planned end effector trajectories is also presented. By means of a mathematical model we report the results of a series of tests show the dynamic effects of the transmission elasticity. The simulation results show that the law of motion can induce significant link and end effector vibrations. These are due to the law of motion itself and to the occurrence of resonance. We will demonstrate that, by an appropriate computing of the servomotors laws of motion, the end-effector trajectories can be followed precisely enough, even if the transmission are not very stiff (e.g. timing belt). The simulation results, obtained with the proposed mathematical model, have been tested by means of Simulink codes; the agreement was good.

Motion Planning of a Robot Arm with Non-Rigid Transmission / Brancati, Renato; Rossi, Cesare; Timpone, Francesco. - STAMPA. - (2003), pp. 1-6. (Intervento presentato al convegno 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2003) tenutosi a Cassino, Italy nel May 7-10, 2003).

Motion Planning of a Robot Arm with Non-Rigid Transmission

BRANCATI, RENATO;ROSSI, CESARE;TIMPONE, FRANCESCO
2003

Abstract

In this paper some aspects of the dynamical behaviour of a two degree of freedom plain manipulator with non rigid transmission between servomotors and links are reported. A technique to compute appropriate servomotors laws of motion to obtain the planned end effector trajectories is also presented. By means of a mathematical model we report the results of a series of tests show the dynamic effects of the transmission elasticity. The simulation results show that the law of motion can induce significant link and end effector vibrations. These are due to the law of motion itself and to the occurrence of resonance. We will demonstrate that, by an appropriate computing of the servomotors laws of motion, the end-effector trajectories can be followed precisely enough, even if the transmission are not very stiff (e.g. timing belt). The simulation results, obtained with the proposed mathematical model, have been tested by means of Simulink codes; the agreement was good.
2003
Motion Planning of a Robot Arm with Non-Rigid Transmission / Brancati, Renato; Rossi, Cesare; Timpone, Francesco. - STAMPA. - (2003), pp. 1-6. (Intervento presentato al convegno 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2003) tenutosi a Cassino, Italy nel May 7-10, 2003).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/307194
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