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  • The aim of this paper is the development of a dynamic model of robot Mitsubishi RV-6S. The model is assembled using the composite method for the flexible bodies. The whole robotic structure is described using the relative coordinates in the joints expressing the movement of the arms. Their deformation is described using the modal coordinates. The deformation is considered to be a linear combination of the modal shapes and modal coordinates are the coefficients of this combination, which is time dependent. The modal shapes have been obtained using FEM analysis of the particular parts. Their geometry is obvious from the CAD model and the parameters of mass and stiffness have been estimated based on the material of them.
  • The aim of this paper is the development of a dynamic model of robot Mitsubishi RV-6S. The model is assembled using the composite method for the flexible bodies. The whole robotic structure is described using the relative coordinates in the joints expressing the movement of the arms. Their deformation is described using the modal coordinates. The deformation is considered to be a linear combination of the modal shapes and modal coordinates are the coefficients of this combination, which is time dependent. The modal shapes have been obtained using FEM analysis of the particular parts. Their geometry is obvious from the CAD model and the parameters of mass and stiffness have been estimated based on the material of them. (en)
Title
  • Model of Robot with Additional Flexible Deformation Sensing for Improved Control
  • Model of Robot with Additional Flexible Deformation Sensing for Improved Control (en)
skos:prefLabel
  • Model of Robot with Additional Flexible Deformation Sensing for Improved Control
  • Model of Robot with Additional Flexible Deformation Sensing for Improved Control (en)
skos:notation
  • RIV/68407700:21220/14:00228957!RIV15-GA0-21220___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GA13-39057S)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 29743
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21220/14:00228957
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Serial robot; flexible multibody system; composite rigid body method. (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [DBB2B3ABB11F]
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Valášek, Michael
  • Šika, Zbyněk
  • Mráz, Ladislav
  • Volech, Jiří
http://localhost/t...ganizacniJednotka
  • 21220
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