Investigations into the Parameters Influencing the Dynamic Performance of 3-RRR Planar & Articulated Robot Manipulators
نویسندگان
چکیده
The present paper attempts to systematically identify the significant factors influencing the dynamic performance of robot manipulators. Two 3-RRR robot configurations planar and articulated arms are considered here to study. The robots kinematic and dynamic models are symbolically formulated. A simulation program has been developed to measure the dynamic performance of the robot manipulators under different combinations of control and noise factors. A fractional factorial Design of Experiment (DoE) approach is utilized to identify the significant factors and their interactions on the performance of the manipulators while moving through different trajectories. The results are analyzed using Analysis of Variance (ANOVA) and critically discussed to illustrate the effect of various parameters involved which interact with each other in a complex manner. It is expected that the present study will be helpful in understanding the dynamic performance of 3-RRR manipulators under different conditions.
منابع مشابه
Maximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach
In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...
متن کاملDesigning an adaptive fuzzy control for robot manipulators using PSO
This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
متن کامل