- Garg, Devendra P. and Ma, Yawei and Nagchaudhuri, Abhijit, Nonlinear dynamic analysis and control of SCARA robots,
Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference, vol. 21 no. pt 5
pp. 2099 - 2103 .
(last updated on 2007/04/10)
Nonlinearities inherent in the manipulators typically include: i) parameter error ii) backlash iii) damping iv) compliance v) link flexibilities and vi) friction. Often the exact nature of these phenomena are not known. A thorough study of the nature of these phenomena and evaluation of their relative importance in manipulator models must be carried out for designing appropriate control algorithms. This paper investigates nonlinearities that are likely to appear in the dynamic equation of a robotic manipulator. Recent developments in the robotic industry have attempted to eliminate some of these nonlinearities by using direct drive techniques. The present study involves examination of nonlinear characteristics related to a 4 degree-of-freedom IBM 7540 SCARA robot. An investigation of the nature of these nonlinearities and evaluation of their relative importance are performed with view to incorporate them into the control algorithms for the robot.
Structural Analysis--Dynamic Response;Computer Programming--Algorithms;Control Systems;