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Proof
Principle of Virtual Work
Let dQ and dP be virtual displacements of the joints and endpoint,
respectively.
The joint torques t that balance with external force -F are called
the equivalent joint torques.
Example 1: Find the equivalent joint torques to the endpoint force F
To resolve the endpoint force to joint torques, one does not need
to compute the inverse of the Jacobian matrix.
The wrist force/moment sensor
measures forces and moments
FU, FV, Fw and NU, Nv, NW.
Find the force and moment acting
on the tool at point T.
DU = DX , DV = DY , DW = DZ
DU = DX + RZ DY RY DZ
DV = DY RZ DX + RX DZ
DW = DZ + RY DX RX DY
See load cells at:
http://www.ati-ia.com/products/ft/sensors.aspx
Videos at:
http://www.ati-ia.com/Library/video_listing.aspx?zone=4
Tool changer videos at:
http://www.ati-ia.com/Library/video_listing.aspx?zone=2
http://www.amti.biz
http://www.interfaceforce.com/
Servo stiffness and endpoint compliance:
Consider a joint drive system with position feedback control.
Find the endpoint compliance assuming that arm links are rigid
1) Equivalent joint torques to the external endpoint
force/moment:
2) Joint deflections
3) Endpoint deflections:
Problems:
A. Multimode structural resonance at each joint.
In a serial manipulator each joint is supported
by the preceding link.
Result:
Computational time limit for on-line
computer control 16.7 msec
B. Variation of link moments of inertia with
manipulator motion and with payload
Possible Result:
Poor path control for unknown or varying loads