Dynamics and control of robots with elastic elements

Project Information

Grant agreement ID: INTAS-94-1927

Project closed

Start date 1 April 1995

End date 31 March 1997

Funded under

• International Association for the promotion of cooperation with scientists from the independent states of the former Soviet Union (INTAS), 1993-

Total cost € 0,00

EU contribution € 29 150,00

Coordinated by

Bergische Universität Gesamthochshule Wuppertal
Germany

Objective

Industrial robots in use today have the disadvantage of a relatively high ratio between the mass of the robot and the mass of the payload. But reduction of the robot's mass will lead to a significant elastic compliance and mathematical models with rigid links will no longer suffice. Elastic compliance can essentially affect the dynamics of properties and the performance characteristics of a robot. The investigation into the dynamics and control of robots with elastic elements is an important scientific direction in modern robotics.

The research will cover the following fields: analysis of natural elastic oscillations, their frequencies and shapes; the development of a programme for mathematical simulation of elastic robot dynamics; and design of control laws taking into account elastic compliance, Coulomb friction and backslash.

Programme(s)

• IC-INTAS - International Association for the promotion of cooperation with scientists from the independent states of the former Soviet Union (INTAS), 1993-

Topic(s)

• 61 - Engineering

Call for proposal

Data not available

Funding Scheme

Data not available

Coordinator

Bergische Universität Gesamthochshule Wuppertal

• EU contribution: No data
• Address: Gaußstraße 20 ; 42097 Wuppertal ; Germany
• Total cost: No data

Participants (2)

Eidgenössische Technische Hochschule Zürich - ETH

Switzerland

• EU contribution: No data
• Address: 8092 Zürich
• Total cost: No data

Russian Academy of Sciences

Russia

• EU contribution: No data
• Address: 117526 Moscow
• Total cost: No data