Load carrying capacity of flexible joint manipulators with feedback linearization |
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Authors: | MH Korayem F Davarpanah H Ghariblu |
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Affiliation: | (1) Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran;(2) College of Mechanical Engineering, Sciences and Researches Branch, Azad University, Tehran, Iran;(3) Mechanical Engineering Department, Zanjan University, Zanjan, Iran |
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Abstract: | A computational technique for obtaining the maximum load carrying capacity of robotic manipulators with joint elasticity,
subject to accuracy and actuators constraints, is described herein. A feedback linearization technique is used to minimize
end-effector deflection. An inversion algorithm is employed for the synthesis of a dynamic feedback control law that provides
input-output decoupling and full state linearization. The linearizing input transformations and the corresponding state diffeomorphisms
are presented. The proposed technique is then applied to a flexible joint robot. Linearizing control law is been expressed
in terms of different sets of model variables and their derivatives. As a result, different tracking errors and torques are
introduced in the robot-given trajectory and different load carrying capacities are obtained. |
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Keywords: | Dynamic load Elastic Feedback linearization Flexible joint Robot |
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