Ziel
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.
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42097 Wuppertal
Deutschland