Articulated mechanical systems: the dynamic model

Abstract

A characteristic inherent in all models used in automatic control systems is that they are valid only for a limited range of applications. For positional and speed control of AMS, geometrical and kinematic models are used which assume, for any configuration taken up by the robot, that a state of equilibrium is achieved. It is clear, therefore, that these models become less representative as the speed increases and inertial, centrifugal and coupling forces become significant (and also friction and elasticity come into effect). Because of the high speeds required on robot-operated production lines, certain dynamic phenomena should be considered before deciding on a model.