Modeling of mechanical systems with lumped elasticity

Presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide the kinematic and dynamic models of such systems. To achieve this goal we adapted some well known tools and notations which are widely used for rigid robots. The inverse dynamic model has to be redefined and developed.

[1]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[2]  M. Renaud.  Calcul de la matrice Jacobienne nécessaire à la commande coordonnée d'un manipulateur , 1980 .

[3]  Roy Featherstone,et al.  Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles , 1983 .

[4]  M. Gautier.  Numerical calculation of the base inertial parameters of robots , 1991, J. Field Robotics.

[5]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[6]  J. Y. S. Luh,et al.  On-Line Computational Scheme for Mechanical Manipulators , 1980 .

[7]  Donald Lee Pieper.  The kinematics of manipulators under computer control , 1968 .

[8]  Fouad Bennis,et al.  Comments on "Direct calculation of minimum set of inertial parameters of serial robots" , 1994, IEEE Trans. Robotics Autom..

[9]  Wisama Khalil,et al.  A new geometric notation for open and closed-loop robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[10]  Wisama Khalil,et al.  SYMORO+: A system for the symbolic modelling of robots , 1997, Robotica.

[11]  R. Featherstone.  The Calculation of Robot Dynamics Using Articulated-Body Inertias , 1983 .

[12]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[13]  Wisama Khalil,et al.  Minimum operations and minimum parameters of the dynamic models of tree structure robots , 1987, IEEE Journal on Robotics and Automation.