Dynamic performance analysis for non-redundant manipulators in contact 2003_2

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1、DynamicPerformanceAnalysisforNon-RedundantRoboticManipulatorsinContactAlanBowlingChangHwanKimDept.ofAerospaceandMechanicalDept.ofAerospaceandMechanicalEngineering,UniversityofNotreDame,Engineering,UniversityofNotreDame,NotreDame,IN46556,USANotreDame,IN46556,USAAbstract—Thispaperpresentsanana

2、lysisofthedynamicacontactconfiguration.ThePUMA560manipulatorisperformanceofanon-redundantroboticmanipulatorwhileanalyzedasanexampleusingtheproposedmethodology.incontactwithafixedenvironment,i.e.arigidwall.Thisworkextendsanearlierperformancecharacterization,theII.CONTACTCONSTRAINTSDynamicCapabi

3、lityHypersurface,whichdescribedamanip-A.LinearMotionsandForcesulator'sabilitytoaccelerateandapplyforcesattheend-effector,giventhelimitationsonthemanipulator'smotorThecontactforcesbetweentheend-effectorandthetorques.Theproposedextensionincludesananalysisofend-environmentconsistofanormalresist

4、anceforceandeffectormotionconstraintsandfrictionforcesandmomentstangentialfrictionforces.Sincetheend-effectorcannotassociatedwithenvironmentalcontact.Thisanalysisisap-pliedtoaPUMA560manipulator.penetrateintotheenvironment,andassumingthesurfacedoesnotmove,I.INTRODUCTIONdvnvn=0=v_n=0(1)dtStudi

5、esofdynamicperformanceusuallyfocusonamanipulator'sabilitytoaccelerateitsend-effector,[1],wherevnisthecompo-[2],[3],[4]forexample.However,therehasbeenanentoftheend-effectort2t1growinginterestinconsideringtherelationshipbetweenvelocityinthedirectionnend-effectoraccelerationsandforces/momentsap

6、pliedatnormaltothesurface,seetheend-effector.ThisinterestissparkedinpartbytheFig.1.Thenormalforce,needtoanalyzetasksrequiringend-effectormotionwhilethescalarfn,preventingapplyingacontactforce/moment,forinstancebuffingorpenetrationcanonlyhavesandingasurface.Inthiscaseofaflatsurface,theend-onedi

7、rectionsincetheeffectormustapplyanormalforcewhilealsoattemptingsurfacecannotpullonthetomoveindirectionsparalleltothesurface.Theabilityend-effector.Withrefer-tomanipulategraspedandnon-graspedobjectsisalsoencetoFig.1,determinedbytheaccelerationandfor