Planning task-based motions of multi-link manipulator models prone to vibration

• Autorzy: Jarzębowska E. , Augustynek K. , Urbaś A.
• Języki publikacji: EN

Abstrakty

EN

A new method of designing tip-point trajectories for industrial manipulators with structural flexibility and friction in their supports and joints is presented in the paper. The method is based upon the formulation of the reference dynamics model of the manipulator model. The reference dynamics models are derived off-line for desired trajectories, i.e. trajectory patterns are delivered in constraint equation forms. A library of reference dynamics models can be generated off-line and serve for verification of desired motions feasibility, ability of reaching required velocities and accelerations in order to obtain the desired trajectories, and estimate power needed for desired motions execution. It enables off-line tests of a system model behavior when it moves a desired trajectory. Also, the reference dynamics enables verification of vibrations that may accompany desired motions, since at the stage of defining a desired trajectory, e.g. for performing a servicing task, a system behavior is unknown. The paper is dedicated to reference dynamics analysis, for a multi-link manipulator model, for which friction in joints is modeled by the LuGre model, the manipulator links are rigid but light and prone to vibrations. The results of the reference dynamics analysis are presented in a series of simulation studies.

Słowa kluczowe

EN

dynamics; GPME algorithm; manipulator; LuGre friction model

PL

dynamika; algorytm GPME; manipulator; model tarcia LuGre

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2018
• Tom: Vol. 29
• Strony: art. no. 2018029
• Opis fizyczny: Bibliogr. 4 poz., il., wykr.

Twórcy

autor

Jarzębowska E.

• Warsaw University of Technology, Department of Power and Aeronautical Engineering, 00-665 Warsaw, Nowowiejska 24, Poland

autor

Augustynek K.

• University of Bielsko-Biala, Department of Mechanical Engineering Fundamentals, 43-309 Bielsko-Biala, Willowa 2, Poland

autor

Urbaś A.

• University of Bielsko-Biala, Department of Mechanical Engineering Fundamentals, 43-309 Bielsko-Biala, Willowa 2, Poland

Bibliografia

• 1. Z. Shiller, On-line and off-line Trajectory Planning, in Motion and Operation Planning of Robotic Systems. Background and Practical Approaches, G. Carbone, F. Gomez-Bravo, Eds, Springer 2015.
• 2. E. Jarzębowska, Dynamics Modeling of Nonholonomic Mechanical Systems: Theory and Applications, Nonlinear Analysis - Theory Methods and Applications, 63(5-7) (2006) 185 - 197.
• 3. E. Jarzębowska, Quasi-coordinates Based Dynamics Modeling and Control Design for Nonholonomic Systems, Theory and Applications, Nonlinear Analysis - Theory methods and Applications, 71(12) (2009) 118 - 131.
• 4. E. Jarzębowska, K. Augustynek, A. Urbaś, Computational Reference Dynamical Model of a Multibody System with First Order Constraints, Proceedings of the ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC2017, August 6-9, 2017, Cleveland, Ohio, USA.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).