In this paper, a new modeling method is developed for analyzing the dynamic behavior of a system consisting of a rigid robotic manipulator and a flexible sheet metal payload. The component mode synthesis method is applied to reduce the degrees of freedom of the payload and to model the interfaces between the robot gripper and the payload. Using nonlinear compatibility functions, the method is modified to synthesize the dynamics of the entire robot-payload system. Exact models are developed capable of describing both large and small rigid-body motions. A modular form is derived and the coupling dynamics is formulated in a computationally efficient manner. Numerical examples are presented to demonstrate the effectiveness of the modeling method. [S0022-0434(00)01102-3]
Skip Nav Destination
Article navigation
June 2000
Technical Briefs
Modeling of Flexible Robot-Payload Systems Through Component Synthesis
T. Zhou,,
T. Zhou,
Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8
Search for other works by this author on:
J. W. Zu, and,
J. W. Zu, and
Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8
Search for other works by this author on:
A. A. Goldenberg
A. A. Goldenberg
Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8
Search for other works by this author on:
T. Zhou,
Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8
J. W. Zu, and
Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8
A. A. Goldenberg
Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript received by the Dynamic Systems and Control Division January 12, 1998. Associate Technical Editor: N. Olgac.
J. Dyn. Sys., Meas., Control. Jun 2000, 122(2): 381-386 (6 pages)
Published Online: January 12, 1998
Article history
Received:
January 12, 1998
Citation
Zhou, , T., Zu, and , J. W., and Goldenberg, A. A. (January 12, 1998). "Modeling of Flexible Robot-Payload Systems Through Component Synthesis." ASME. J. Dyn. Sys., Meas., Control. June 2000; 122(2): 381–386. https://doi.org/10.1115/1.482477
Download citation file:
Get Email Alerts
Cited By
A Method for Designing of Hydraulic Actuators Using Digital Hydraulic Pump and Multi-Chamber Cylinder
J. Dyn. Sys., Meas., Control
A Method for Robust Partial Quadratic Eigenvalue Assignment with Repeated Eigenvalues
J. Dyn. Sys., Meas., Control
Designing Hybrid Neural Network Using Physical Neurons - A Case Study of Drill Bit-Rock Interaction Modeling
J. Dyn. Sys., Meas., Control
Linear Quadratic Regulator for Delayed Systems Using the Hamiltonian Approach and Exact Closed-Loop Poles for First-Order Systems
J. Dyn. Sys., Meas., Control (July 2023)
Related Articles
A Temperature-based Controller for a Shape Memory Alloy Actuator
J. Vib. Acoust (June,2005)
Non-linear Control for Underactuated Mechanical Systems
Appl. Mech. Rev (July,2002)
Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems. Springer Tracts in Advanced Robotics, Vol 2
Appl. Mech. Rev (November,2003)
Nonholonomic Mechanics and Control
Appl. Mech. Rev (January,2004)
Related Proceedings Papers
Related Chapters
Cryptographic Properties of Cellular Automata-Based S-Boxes Equivalent to DES S-Boxes
Intelligent Engineering Systems through Artificial Neural Networks
Environment Modeling for Mobile Service Robot
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Ant Inspired Algorithm for Multi-Robot Collaboration
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17