Application of a perturbation method for realistic dynamic simulation of industrial robots

DOI10.1007/S11044-005-6317-YzbMath1130.70315OpenAlexW2051713456MaRDI QIDQ556672

R. R. Waiboer, R. G. K. M. Aarts, J. B. Jonker

Publication date: 22 June 2005

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-005-6317-y

zbMATH Keywords

perturbation methodfinite element modellingLuGre friction modelclosed-loop trajectory simulationindustrial robotrealistic dynamic simulation

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Perturbation methods for rigid body dynamics (70E20)

Uses Software

• Matlab
• Simulink
• SPACAR

Cites Work

• Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation
• An integrated friction model structure with improved presliding behavior for accurate friction compensation
• A new model for control of systems with friction
• A perturbation method for dynamic analysis and simulation of flexible manipulators.

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