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RESEARCH PAPERS

Dynamic Models for Control System Design of Integrated Robot and Drive Systems

[+] Author and Article Information
M. C. Good, L. M. Sweet, K. L. Strobel

General Electric Company, Corporate Research and Development, Schenectady, N.Y. 12345

J. Dyn. Sys., Meas., Control 107(1), 53-59 (Mar 01, 1985) (7 pages) doi:10.1115/1.3140707 History: Received January 29, 1985; Online July 21, 2009

Abstract

The design of high performance motion controls for industrial robots is based on accurate models for the robot arm and drive systems. This paper presents analytical models and experimental data to show that interactions between electromechanical drives coupled with compliant linkages to arm link drive points are of fundamental importance to robot control system design. Flexibility in harmonic drives produces resonances in the 5 Hz to 8 Hz range. Flexibility in the robot linkages and joints connecting essentially rigid arm members produces higher frequency modes at 14 Hz and 40 Hz. The nonlinear characteristics of the drive system are modeled, and compared to experimental data. The models presented have been validated over the frequency range 0 to 50 Hz. The paper concludes with a brief discussion of the influence of model characteristics on motion control design.

Copyright © 1985 by ASME
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