Primary Error Compensation in Grippers with Any Manipulator Structure when Robots Collaborate in Moving an Object

摘要

A differential method is proposed for determining the errors in the grippers of two robots moving the same object. The method entails analysis and transformation of the instantaneous closed loop of the manipulator’s kinematic chain for the given position of the object, in the case where the primary errors are established by specified small displacements. The drives apply compensating forces at the corresponding points of the loop. The nonhomogeneous Mathieu equation is used to analyze the stability of the motion and assess the dynamic errors of the small vibrations whose amplitude is beyond the range corresponding to the nonuniformity.