Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-29T14:51:00.602Z Has data issue: false hasContentIssue false
  • English
  • Français

Sensitivity analysis of balanced robotic manipulators

Published online by Cambridge University Press:  09 March 2009

W. K. Chung  and
H. S. Cho
W. K. Chung
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science & Technology, Chongryangni P. O. Box 150, Seoul (South Korea)
H. S. Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science & Technology, Chongryangni P. O. Box 150, Seoul (South Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

The payload variation has been one of the principal reasons in reducing path tracking accuracy and complicating controller design. In this paper, the trajectory and input sensitivities for the payload variation are investigated for three different robot configurations which include unbalanced, inaccurately balanced and balanced configurations. Based upon the sensitivity theory, simulation studies were made to evaluate the sensitivities of these configurations with respect to payload variations. The simulation results are discussed in detail and compared for the three configurations.

Keywords

SensitivityAnalysisRobotsBalancedLoad variations
Type
Research Article
Information
Robotica , Volume 6 , Issue 1 , January 1988 , pp. 53 - 62
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

1.Neuman, C.P. and Murray, J.J., “Linearization and sensitivity fonctions of dynamic robot models” IEEE Trans. SMC SMC-14, 805–818 (1984).CrossRefGoogle Scholar
2.Vukobratovic, M. and Kircanski, N., “Computer assisted sensitivity model generation in manipulation robots dynamics” Mechanism and Machine Theory 19, No. 2, 223–233 (1984).CrossRefGoogle Scholar
3.Chung, W.K., Cho, H.S., Lee, C.W. and Warnecke, H.J., “Performance of robotic manipulators with an Automatic Balancing Mechanism”, ASME Winter Annual Meeting, New Orleans 111–121 (1984).Google Scholar
4.Chung, W.K., Cho, H.S., Chung, M.J. and Kang, Y.K., “On the dynamic characteristics of balanced robotic manipulators” Japan–U.S.A. Symposium on Flexible Automation, Osaka, Japan (07 14–18, 1986).Google Scholar
5.Frank, P.M., Introduction to System Sensitivity Theory (Academic Press, New York, 1978).Google Scholar
6.Daniels, A.R., Lee, Y.B. and Pal, M.K., “Nonlinear power-system optimization using dynamic sensitivity analysis” Proceedings of IEE 123, No. 4, 365–370 (1976).Google Scholar