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Symbolic modelling and experimental determination of physical parameters for complex elastic manipulators

  • Chapter 6 Modeling And Design
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

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Abstract

After the introduction of a complete and compact multibody system (MBS) formalism for systems with discrete and distributed masses and elasticities, a specialization to tree-structured systems will be presented. A novel approach to the symbolic implementation of these formulas in MAPLE using non-commutative operators facilitates the introduction of symbolic simplifications.

The description of a model for a six-axis robot with elasticities in the gears, bearings and links is followed by the identification of this system. Static deflection measurements are used for the determination of the nonlinear (NL) gear stiffnesses. Frequency response measurements in several positions are employed for the calculation of the dynamic parameters of the system.

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Author information

Authors and Affiliations

  1. Mechatronics Laboratory Paderborn, MLaP, University of Paderborn, Pohlweg 55, D - 33098, Paderborn, Germany

    Dipl.-Ing. H. Schütte & Dr.-Ing. W. Moritz

Authors
  1. Dipl.-Ing. H. Schütte
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  2. Dr.-Ing. W. Moritz
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Schütte, H., Moritz, W. (1997). Symbolic modelling and experimental determination of physical parameters for complex elastic manipulators. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035219

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  • DOI: https://doi.org/10.1007/BFb0035219

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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