Abstract
The objective of this paper is to develop a structural compliance model for a general serial manipulator that includes both joint and link compliance sources in any general distribution of revolute and prismatic joints. A primary feature is that special consideration is given to modeling the variable local compliance properties of a robot containing one or more prismatic joints. A more reliable method for placing the link compliance frames is also introduced. An improved linear quasi-static compliance model for serial robot structure comprised of both revolute and/or prismatic joint is provided.
Original language | English |
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Pages (from-to) | 3320-3327 |
Number of pages | 8 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 4 |
DOIs | |
State | Published - Apr 2000 |
Scopus Subject Areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering