Analysis of a dual-arm mobile robot dynamics and balance compensation

摘要：

The kinematic and dynamic behaviors of a robot manipulator on an elastic catenary cable were investigated.The dynamic equations of the robot and the cable were derived based on the Newton-Euler principle and Hamilton principle respectively.The recursive formulations describing the nonlinear and coupling dynamics relationship between the robot and the cable were presented.Based on the rigid-flexible coupling model proposed in this paper,a dynamic compensation technique with complementary control strategy was discussed which was implemented to adjust the posture of the robot and restrain the vibration that arise the flexible characteristics of the cable.The simulation and experiment results shown in this paper validate the effectiveness of the dynamic compensation.

关键词： cable robot dynamics inspection.

作者: Ting-yu Zhang Jian Jin Guo-xian Zhang

作者单位: Department of Mechaincal and Automation,Shanghai University,Shanghai,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）