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5. Dynamic control
A robot manipulator is a complex mechanical structure whose inertias relative to the joint axes vary not only with the end load, but also with the configuration. The effects of gravity also vary with the configuration. When the joints ("axes") are actuated via high reduction ratios, the inertia seen by the motors varies little. This is because the inertia of the load brought back to the motor is divided by the square of the reduction ratio (see the articles on servo-controls
For drives with low reduction ratios or even "direct-drive",...
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Dynamic control
Bibliography
References
Standardization
International standard (ISO)
- Manipulating industrial robots-Vocabulary. - ISO 8373 - 1994-12-01
French standards (AFNOR)
- Robots manipulateurs industriels. Systèmes de coordonnées et mouvements. - NF EN 29787/ISO 9787 - 11-1992
- Robots manipulateurs industriels. Présentation des caractéristiques. - NF EN 29946/ISO 9946 - 11-1992
- Robots manipulateurs industriels. Sécurité. - NF EN 775...
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