Klimchik et al., 2015 - Google Patents
Static stability of manipulator configuration: Influence of the external loadingKlimchik et al., 2015
View PDF- Document ID
- 3050639355988691439
- Author
- Klimchik A
- Chablat D
- Pashkevich A
- Publication year
- Publication venue
- European Journal of Mechanics-A/Solids
External Links
Snippet
The paper deals with the manipulator static stability analysis under the influence of the external loading. It proposes a new technique that allows evaluating both static stability of the end-effector location and static stability of the kinematic chain configuration. This …
- 230000003068 static 0 title abstract description 61
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING; COUNTING
- G06F—ELECTRICAL DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/50—Computer-aided design
- G06F17/5009—Computer-aided design using simulation
- G06F17/5018—Computer-aided design using simulation using finite difference methods or finite element methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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