Multidiscipline simulation of elastic manipulators
This paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establ...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1992-10-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1992/MIC-1992-4-3.pdf |
| _version_ | 1828434122800889856 |
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| author | T. Rølvåg Hans P. Hildre O.I. Sivertsen Å.O. Waløen |
| author_facet | T. Rølvåg Hans P. Hildre O.I. Sivertsen Å.O. Waløen |
| author_sort | T. Rølvåg |
| collection | DOAJ |
| description | This paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establish this general simulation system as an efficient multidiscipline robot design tool a robot control system including a high level robot programming language, interpolation algorithms, path generation algorithms, forward and inverse kinematics, control systems, gear and transmission models are implemented. These new features provide a high level of integration between traditionally separate design disciplines from the very beginning of the design and optimization process. Several simulations have shown that high fidelity mathematical models can be derived and used as a basis for dynamic analysis and controller design in FEDEM. |
| first_indexed | 2024-12-10T18:45:48Z |
| format | Article |
| id | doaj.art-11a9079a246f4f45a7d38e7334f9a0df |
| institution | Directory Open Access Journal |
| issn | 0332-7353 1890-1328 |
| language | English |
| last_indexed | 2024-12-10T18:45:48Z |
| publishDate | 1992-10-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj.art-11a9079a246f4f45a7d38e7334f9a0df2022-12-22T01:37:30ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13281992-10-0113422124010.4173/mic.1992.4.3Multidiscipline simulation of elastic manipulatorsT. RølvågHans P. HildreO.I. SivertsenÅ.O. WaløenThis paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establish this general simulation system as an efficient multidiscipline robot design tool a robot control system including a high level robot programming language, interpolation algorithms, path generation algorithms, forward and inverse kinematics, control systems, gear and transmission models are implemented. These new features provide a high level of integration between traditionally separate design disciplines from the very beginning of the design and optimization process. Several simulations have shown that high fidelity mathematical models can be derived and used as a basis for dynamic analysis and controller design in FEDEM.http://www.mic-journal.no/PDF/1992/MIC-1992-4-3.pdfFinite Element Methodkinematicsdynamicscontrol |
| spellingShingle | T. Rølvåg Hans P. Hildre O.I. Sivertsen Å.O. Waløen Multidiscipline simulation of elastic manipulators Modeling, Identification and Control Finite Element Method kinematics dynamics control |
| title | Multidiscipline simulation of elastic manipulators |
| title_full | Multidiscipline simulation of elastic manipulators |
| title_fullStr | Multidiscipline simulation of elastic manipulators |
| title_full_unstemmed | Multidiscipline simulation of elastic manipulators |
| title_short | Multidiscipline simulation of elastic manipulators |
| title_sort | multidiscipline simulation of elastic manipulators |
| topic | Finite Element Method kinematics dynamics control |
| url | http://www.mic-journal.no/PDF/1992/MIC-1992-4-3.pdf |
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