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Robot arm dynamics and controlVariations in total inertia and gravity loads at the joint outputs are treated along with the relative importance of gravity and acceleration-generated reaction torques or forces versus inertia torques or forces. The relation between the dynamical state equations in explicit terms and servoing the manipulator is briefly discussed in the framework of state variable feedback control which also forms the basis of adaptive manipulator control. Exact state equations were determined for total inertia and gravity loads at the joint outputs as a function of joint variables, using the constant inertial and geometric parameters of the individual links defined in the respective link coordinate frames. The range of maximum variations in total inertia and gravity loads at the joint outputs was calculated for both no load and load in the hand. The main result is the construction of a set of greatly simplified state equations which describe the total inertia and gravity load variations at the output of the six joints with an average error of less than 5%.
Document ID
19740008732
Document Type
Contractor Report (CR)
Authors
Bejczy, A. K. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 3, 2013
Publication Date
February 15, 1974
Subject Category
BIOTECHNOLOGY
Report/Patent Number
NASA-CR-136935
JPL-TM-33-669
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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NameType 19740008732.pdf STI