Modelling and simulation of a manipulator joint

Report (1988)

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Copyright: Campus only
Flexibility Torque Manipulators Joints (junctions) Dynamic models Computerized simulation Matrices (mathematics) Dry friction Hermes manned space plane Brakes (for arresting motion)
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Published Date

30-09-1988

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NLR-TR 87173 U

Abstract

A substantial part of current research in robotics and automation is focussed on space robots and manipulators. In this research there is an increasing demand of simulation facilities. Test rigs of space robots/manipulators are usually very complex and expensive. In this report, a generic joint model is developed for the simulation facility of the HErmes Robot Arm (HERA). Much emphasis has been laid on modelling and simulation of friction, elasticity and backlash in the joint. Rather uncommon models are used for these phenomena in order to ameliorate model accuracy. Simulation results are satisfactory although the simulation stepsize had to be fairly small. The intended time-saving of the elasticity/backlash model, as used in this report, might be questionable.