DYNAMIC MODEL OF A TWO-LINK ROBOT MANIPULATOR WITH BOTH STRUCTURAL AND JOINT FLEXIBILITY G. -B. Yang and M. Donath Productivity Center and Department of Mechanical Engineering University of Minnesota Minneapolis, Minnesota ABSTRACT We have developed a simplified but accurate dynamic model which describes the motion of robot manipulator incorporating both structural and joint flexibility. A set of coupled dynamic ‘equations was obtained based on the Assumed-Mode Method and on orthogonality relations for a two link/wo joint system. The orthogonality relationship that we developed for the second Gerivatives differs from that used in systems having only structural flexibility. Although the {dynamic equations ofthe simplified model fo this system is not decoupled, the coefficients are ‘much simpler than those inthe complete model forthe same system. Ic was shown that for small Joint and seructural deflections the simplified dynamic equations were accurate when compared 10 the simulation results of a dewiled model. Simulation of varying joint stiffness characteristics Indicates that there is no rigid mode for the flexible joint system. AS such, both structural and. flexibility must be considered in the analysis and congol of such systems. The simulation results forthe wo unite jou sytem hve shown hat for large ips, there are adiuonal esis ‘which appear inthe deuiled model, but donot appear inthe simplified model INTRODUCTION Under high speed and precision requirements, systems that are normally stiff behave in a compliant fashion, and nonlinearities Become substantially more significant. The undesirable ‘compliance and sysiem nonlinearities associated with the mechanical stucture and drive design of a ‘manipulator can result in large six degree of freedom errors atthe end effector. Considerable research is now being conducted on contolling flexible robot manipulators in order to achieve higher speeds and greater accuracies in lighter weight robots without sacrificing on payload ‘capabilites. But cost and other practical limitations make it prohibitive to design manipulators that ae very suf at high speeds. Recent work by many researchers has focused on the computed torque method (also called feedback linearizing contol, inverse dynamics cont, et.) for controlling non-fexible robots. In this approach, a nonlinear coawol law is used for controlling the end effector postion in order 10 overcome inertial, Coriolis, centrifugal, gravitational and erosscoupling effects which all vary widely with payload, payload path and speed. However, this works best when complete knowledge of the manipulator dynamics is available. To address this problem, variations on this approach, including adaptive contol and perturbation methods including the integral manifold concept, have been investigated for robustness and stability in the presence of parameter uncertainty and disturbances. Mos effors have been focussed on structured uncertainty, but recent ‘work has shown that unstructured uncertainty or unmodelled dynamics can constrain the performance of such systems, These methods have now also been extended to incorporate the agone of exible jointed robots Fores-Balach and Babcock, 1987; Spong, Khorasan and Kotorvi, 1987) and exible ink roots (Book, 1960) However no one his nddessed the Sutin where ih sutra and jt least exist, By Incorporating both is possible to fvaluate and compare fe reve eas on sab, aczacy and banner eopnse: We WS tvetcome some bf hese lmiaions by developing move accuse models tat canbe uae 10 Iprove the concol of euch seme "rodeo achieve inproved acurcy while accommodating Nesbit, Cannon ad Schiz 9 Hc ed aon (945) an Rove Caan C98) bs esi end pt ‘Sonvol. Ress fom premanay experiments show promize but have been lite to planar fotion. New sensors fow exist which are capable of 6 depee of feedom end-point wicking (Sorensen Mane al {B87 These sensors an, in absolute Cartesian apace, ulaenuy Sack be XYZ coordnies of ge numberof selcied point get a bighbaidvadh and eat therefrom calcul the veauivethodonasong moving bases long 8x depres of feedom. As a a ihe wma pn cnr mrp of esto en pit son However, be elaboration of tis aproach to spat manipladon requires at te inverse dyna of hrc and jon deforcons be incorporated wha te conlpaadigia. Given {Be complexity ofthe disvbuted dynamics, tis imperative tat we come up wih accurate Yet ompuntonaly realise models whieh ean be used wo design contd soaiepes and sud) the Cloned loop bektier f such systems. in order to make the problem tactable, we have focused our stention on studying the Aexibity eects in systems with fen deges of freedom but which apply to & broad cls of fobos nan ever paper we sudid the planar mation of tone Sere of iced nyt wish Ireomoraes both jon and seta compliance, This pariular sytem allows ano study the ttiect of compliance, coming for example fom both he west pic ave (Rp i Fig. 1 and tom the structural compliance of the final ink of « gantry robot. By adding an additional orthogonal {degree ofredom otion of te ganz boom Ry) ts posible fo consider he fall re degre of freedom motion of the end efecor. In such a system: the compliance of the fst three ‘Tanitont axes XV. 2) ofthe gantry maybe decoupled frm the maton of the inal two (or thze) joint dives By breaking dawn de overall problem of a cancun tot into component pans ee can determine the ove 3D complance elec om the ofa due prisms ont End'arctural compliance eects inthe fst tee aces, X,Y and 2, (deol oe plane onianing he verucal Za andthe final ink, ue tothe compliance in he wrt pich drive Gy fin he ia! nk structure, and () he offsets onhogoral wo tos in) de 1 he compliance In {Be wit yaw roe) tnd be Bo nk sitar Te ang and nash C1988) we aati effect ound in) above. The sul can realy als be applied 1 (0 ns paper, we il analyae the effet of ont and tral eompLance in arwoLnk/wo Jointed syd spun ving fn the plane (inks 1 and 2 in Fig2)H'we can come up witht fulable descripon ofthe planar effects de to sutra and jin compliance in ths system then ‘we canner expand our mde wconider tefl’ epee of eedom oun by incorpo th Uifet of an adios) onhogonaldepecoffieedom, fy We have nensonaly investigated ms ‘vith lesbilies fr larger tani prevalent in el Geign so al we wil be abet very our Tests by implementing SD end poet sonra using avaiable 3D wacking sensors with 0080 inch (2.032 shy accuracies at 480 Hs, We expect hati wil be posible cae te esl of our Planned expernnt to far slr systems Ning ven atRigher speeds Hoy 2 rm - 2 "gamoentene "yummie ecgaaranat Smee Since we use some ofthe results ofthe single lini/single joint models inthe development ofthe ‘wo link/ewo joint system, we will fst review some of those resultsDYNAMIC MODEL OF A SINGLE LINKJOINT SYSTEM aN ey x dese he coupe nd crs roping dynamic models of singe sm. The deals ofthese two dynamic models can be found in Yang end Donth GBI Taste ope system ebay onfonn dneibued pind fee beam of eng Lin the horizon plane as shown in Fig3, where E, 1p, and Mp are Young's modulus, te moment of inertia of the cross-sectional area, the density (mass per wnt Jength) and payload. Iy is the hub {nena The fexible joint 1s modeled, as shown, by & torsional spring with sffness Ky The angular rotation, @, isthe sum of the angular displacement due to the hub rotation, @j, and the angular displacement due tothe flexibility ofthe joint, @x. XOY is the original coordinate system, while X,OY is the coordinate system following an angular rotation @. x and x, ae the respective X coordinates for a point on the beam inthe appropriate coordinate system, before and afer the angular rotaion @. () Deseple Mote) Fig3 Ange lain fecble mip ‘To obusin the decoupled model, we assume renee a for small angular rotation ®, and deflection u (wx). ‘Tae orthogonality relasonship of the second derivatives, which i tue for a system with only ssrocural flexibly, will ot hold bere. stead, we have Freeesudinspagoainn {Somme Ih ° ee { SERIO ts “48080 te Using tne onhogonaliy relations Eas. 2) and 2), the final dynamie equations based onthe Laganges meiod canbe Said inthe sate space fom iewx-mu where Us vector of ipa trguts, Ti and 3 ‘) mt o