Modeling of flexible robot-payload systems through component synthesis

T. Zhou, J. W. Zu, A. A. Goldenberg

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

In this paper, a new modeling method is developed for analyzing the dynamic behavior of a system consisting of a rigid robotic manipulator and a flexible sheet metal payload. The component mode synthesis method is applied to reduce the degrees of freedom of the payload and to model the interfaces between the robot gripper and the payload. Using nonlinear compatibility functions, the method is modified to synthesize the dynamics of the entire robot-payload system. Exact models are developed capable of describing both large and small rigid-body motions. A modular form is derived and the coupling dynamics is formulated in a computationally efficient manner. Numerical examples are presented to demonstrate the effectiveness of the modeling method.

Original languageEnglish
Pages (from-to)381-386
Number of pages6
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume122
Issue number2
DOIs
StatePublished - Jun 2000

Fingerprint

Dive into the research topics of 'Modeling of flexible robot-payload systems through component synthesis'. Together they form a unique fingerprint.

Cite this