Classification structure and compliance modeling for serial manipulators

Jeff Hudgens, Daniel Cox, Delbert Tesar

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

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 languageEnglish
Pages (from-to)3320-3327
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
DOIs
StatePublished - Apr 2000

Scopus Subject Areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Classification structure and compliance modeling for serial manipulators'. Together they form a unique fingerprint.

Cite this