RE-DEFINITION OF THE ROBOT MOTION CONTROL PROBLEM: EFFECTS OF PLANT DYNAMICS, DRIVE SYSTEM CONSTRAINTS, AND USER REQUIREMENTS.

Abstract

The authors redefine the robot control problem based on realistic (1) models for the industrial robot as a controlled plant, (2) end effector trajectories consistent with manufacturing applications, and (3) the need for end-effector sensing to compensate for uncertainties inherent in most robotic manufacturing applications. Based on analytical and experimental studies, realistic robot dynamic models are presented that have been validated over the frequency range 0 to 50 Hz. These models exhibit a strong influence of drive system flexibility, producing lightly damped poles in the neighborhood of 8 Hz, 14 Hz, and 40 Hz, all unmodeled by the conventional rigid body multiple link robot dynamic a..