"An Improved Method for Online Calculation and Compensation of the Stat" by Paul P. Lin, Hsiang-Dih Chiang et al.
 

Document Type

Article

Publication Date

4-1991

Publication Title

Journal of Robotic Systems

Abstract

Traditionally, robotic deflection analysis for a low-weight robot has been performed based on an assumption that each link is treated as a cantilever beam, which leads to no angular deflection at a joint. In practice, a robotic intermediate joint is linearly and angulary deflected when a load is applied at the end-effector. It is found in this study that the additional link deflection resulting from the angular deflection of a robotic revolute joint substantially contributes to the end-effector's total deflection. This article presents an improved method via a combination of classical beam theory, energy methods and the concepts of differential relationships to more accurately calculate the static deflection at the end-effector. A systematic approach to deflection calculation through three different Jacobians are presented. The study also shows that the end-effector's deflection heavily depends on robotic arm configurations. The deflection is then compensated based on the selected optimum configuration. The theoretical deflection analysis is verified by experimental results. A planar two-link robot and a six-degree-of-freedom Elbow Manipulator are used for numerical illustration and calculation procedure.

DOI

10.1002/rob.4620080208

Version

Postprint

Volume

8

Issue

2

Plum Print visual indicator of research metrics
PlumX Metrics
  • Citations
    • Citation Indexes: 6
  • Usage
    • Downloads: 450
    • Abstract Views: 38
  • Captures
    • Readers: 3
see details

Included in

Robotics Commons

Share

COinS