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Control of the spatial motions of a gantry manipulator with elastic links

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Abstract

A mathematical dynamic model is proposed for a controlled gantry robot with elastic compliance and inertia distributed along a two-link arm. The model includes a nonlinear system of hybrid differential equations. Kinematic and dynamic control problems for the robot are formulated. The dynamic characteristics of the robot are analyzed in comparison with an equivalent model of a robot manipulator with rigid links based on the Lagrangian formalism

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Authors and Affiliations

  1. International research and training center for information technologies and systems, National Academy of Sciences of Ukraine and Ministry of Education and Sciences of Ukraine, Kiev

    T. V. Zavrazhina

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  1. T. V. Zavrazhina
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__________

Translated from Prikladnaya Mekhanika, Vol. 42, No. 2, pp. 121–128, February 2006.

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Zavrazhina, T.V. Control of the spatial motions of a gantry manipulator with elastic links. Int Appl Mech 42, 228–234 (2006). https://doi.org/10.1007/s10778-006-0081-4

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  • DOI: https://doi.org/10.1007/s10778-006-0081-4

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