| Popis: |
A general and comprehensive dynamics modeling of serial robot with clearance in joint is presented throughout this work. The key point in this paper is to treat the joint clearance as a massless link, which directly relate to the dynamics modeling of the mechanism. Using the massless link method, combined with the Lagrange method and the D’Alembert’s principle, a computational methodology for purpose of solving the clearance angle, is presented. With the clearance size calculated, the terminal position of robot manipulator can be derived, which provides a reference for subsequent robot control. |
