This project establishes a dynamic model of industrial robots considering the link and joint flexibility. The geometrical nonlinearity of the robot is captured with low dimensions via the strain-based beam elements and modal amplitudes. The dynamic model captures the industrial robot’s position- and posture-dependent vibration. A nonlinear filtered B-spline approach is developed to alleviate the motion-induced vibration.
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Manufacturing and Aviation Automation Lab
The Hong Kong University of Science and Technology