An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity
Rajesh Subburaman,Mariapaola D’Imperio,Jinoh Lee,Ferdinando Cannella,Rajesh Subburaman,Mariapaola D’Imperio,Jinoh Lee,Ferdinando Cannella
High precision industrial applications call for equally precise functioning of industrial manipulators, which in turn requires accurate modeling of the manipulators. This paper carries out a detailed study on the modeling of industrial manipulators with elastic joints to improve their accuracy. In particular, the effect of adopting a simple harmonic drive (HD) model and ignoring a dynamic effect c...
