Dynamic modeling of robotic manipulators for accuracy evaluation
Stefanie A. Zimmermann,Tobias F. C. Berninger,Jeroen Derkx,Daniel J. Rixen,Stefanie A. Zimmermann,Tobias F. C. Berninger,Jeroen Derkx,Daniel J. Rixen
In order to fulfill conflicting requirements in the development of industrial robots, such as increased accuracy of a weightreduced manipulator with lower mechanical stiffness, the robot's dynamical behavior must be evaluated early in the development process. This leads to the need of accurate multibody models of the manipulator under development.This paper deals with multibody models that include...
