Dynamic modeling of geared and flexibly jointed manipulators

Abstract

A Newton-Euler analysis of a robot manipulator with gears or joint flexibilities is presented. A recursive order N form for the calculation of the manipulator forward dynamics that includes all gyroscopic forces and motor-link acceleration interactions is developed. The commonality between flexibly jointed manipulators and geared manipulators is discussed. For the flexible joint, the motor-link dynamics are described using a general function for the coupling between motor and link. The dynamic effects of motors and the accurate modeling of industrial manipulator dynamics investigated using a simulation of a PUMA 560 are also presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>