Validation théorique et expérimentale de modèles dynamiques direct et inverse de mécanismes articulés à structure cinématique complexe: application à la robotique

Doctorat en sciences appliquéesinfo:eu-repo/semantics/nonPublishe

Dynamic modelling of robots with flexible joints

The proposed method considers flexibility of the structure located in the transmission units between the motors and the corresponding arms. The reference trajectories are expressed in terms of relative angular position of successive arms and not in terms of the classical motor shaft angular position. The dynamic model is obtained with a new algorithm which presents the same recursive properties as the classical Newton-Euler algorithm. The dynamic model for this type of structure presents inertial coupling terms between arm joint variables and motor joints variables. This effect is usually ignored in classical developments. Flexibility out of the joints are considered in the modelling process.SCOPUS: ar.jinfo:eu-repo/semantics/publishe

Singular configurations and workspace of robots

The purpose of this paper is to explain the set-up of a general method for finding the singular configurations of a robot. Open en closed chain manipulators made out of links with single degree of freedom joints are considered. The manipulator singular configurations corresponding to inner and outer limits of workspace are found by the study of analytical relations between the end effector location and the joint coordinates using the Jacobian matrix. © 1988.SCOPUS: ar.jinfo:eu-repo/semantics/publishe

Il est possible de déterminer les limites de l'espace de travail d'un robot par l'analyse des singularités de sa matrice jacobienne [Thèse annexe]

Doctorat en Sciencesinfo:eu-repo/semantics/nonPublishe

Validation théorique et expérimentale de modèles dynamiques direct et inverse de mécanismes articulés à structure cinématique complexe: application à la robotique

Doctorat en Sciencesinfo:eu-repo/semantics/nonPublishe

STATIC AND DYNAMIC PERFORMANCE MEASUREMENTS OF INDUSTRIAL ROBOTS.

A static and dynamic performance test bench is presented in this paper. Static performances consist of resolution, of repeatability and of accuracy. Dynamic performances consist of comparison between three-dimensional real measured trajectories and prescribed straight line motions, together with their acceleration, joints velocities and torque or force developed by each actuator. Trajectory measurements is contactless. Torques or forces are measured by joint actuator. Influence of control system, drive mechanism, joint efficiency and link flexibility on the path accuracy of an industrial robot can be checked.SCOPUS: ar.jinfo:eu-repo/semantics/publishe

Measuring of friction in robots

This paper discusses the sources and consequences of high friction losses in robot mechanisms. The experimental results lead to mathematical models for friction forces in nonpreloaded and preloaded mechanisms. A method for measuring forces resulting from friction in joints of preloaded mechanisms is also presented. The results of friction force measurements, included in an inverse dynamic program for robots, lead to an agreement between calculations and the measurement of forces in robots.SCOPUS: ar.jinfo:eu-repo/semantics/publishe

Annual Report 1996 - Institute for Advanced Materials.

Abstract not availableJRC.(IAM)-Institute For Advanced Material

Annual Report 1996. Institute for Advanced Materials.

The Annual Report of the IAM highlights the achievements of the institute during this past year. An overview of the management is presented in the introduction. Contributions to research and technology development achieved whilst the execution of specific R&D programmes. Technology transfer achieved in 1996 also is reported. the Operation of the High Flux Reactor resulting from the Supplementary Programme is presented in a condensed form. A full report for the HFR is published separately.JRC.(IAM)-Institute For Advanced Material

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