Computer-Aided Control of Force-Reflecting Manipulators

Coiffet, Philippe; Liégeois, A.; Fournier, Alain; Khalil, Wisama; Molinier, Pascale; Vertut, J.

doi:10.1016/s1474-6670(17)67159-3

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Simplification Of the Equation Of The Model1

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1978

1983

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“…The elements of this structure can be represented by the system shown in Figure 50 (which shows a type MA 23 machine, Calhent-CEA). 43 The robot possesses six rotational DOF. The matrices A, Band C of equation (7-11) contain 36 terms aij, 90 terms bijk and 36 terms Cjj, respectively, a total of 162 complex functions of (h To obtain some idea of this complexity (which is common to all robots possessing six DOF) the following two coefficients should be studied -one being the least complex, not equal to zero (C54), and the other very complex (all): This system can be simplified by determining whether some of the terms are equal to zero, equal to one another, or negligible.…”

Section: Simplification Of the Equation Of The Modelmentioning

confidence: 99%