In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed...In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed, the relationship between the coefficients of dynamic equation is derived so as to establish the canonical equations. The error accumulation of dynamics can be eliminated by using canonical equations and the symplectic integral method so that the computational accuracy can be ensured effectively. As an example, a planar robotics system is considered.展开更多
This paper studies the dynamics of multiarm robots and multirobot configuration. With two or more arms holding an object, one or more closed loops are formed by the arms. The system is then a constrained multibody sys...This paper studies the dynamics of multiarm robots and multirobot configuration. With two or more arms holding an object, one or more closed loops are formed by the arms. The system is then a constrained multibody system and is studied as such. Dynamic analyses of constrained multibody systems may be obtained using recently developed procedures based upon Kane′s equations and Huston′s methods. These procedures lead to a numerical formulation of the governing equations, thus producing a simulation of the movement of the system. The procedures are applied and illustrated with a two robot system using PUMA 760 and 562 robots. A good agreement is obtained between theoretical and experimental results.展开更多
文摘In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed, the relationship between the coefficients of dynamic equation is derived so as to establish the canonical equations. The error accumulation of dynamics can be eliminated by using canonical equations and the symplectic integral method so that the computational accuracy can be ensured effectively. As an example, a planar robotics system is considered.
文摘This paper studies the dynamics of multiarm robots and multirobot configuration. With two or more arms holding an object, one or more closed loops are formed by the arms. The system is then a constrained multibody system and is studied as such. Dynamic analyses of constrained multibody systems may be obtained using recently developed procedures based upon Kane′s equations and Huston′s methods. These procedures lead to a numerical formulation of the governing equations, thus producing a simulation of the movement of the system. The procedures are applied and illustrated with a two robot system using PUMA 760 and 562 robots. A good agreement is obtained between theoretical and experimental results.
