Compensability of flexible robot arms.

概要

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It is important to clarify the characteristics of robot arm task performability. This problem is being studied systematically for the rigid link robot arms. Little study, however, has been done for the flexible link robot arms since the problem becomes very complex because of the link flexibility. The end-effector position is influenced not only by the joint displacements but also by the link flexural displacements. In this paper, by analyzing the mapping relation from the joint displacements and the link flexural displacements to the end-effector positions, we give a systematic analysis to understand the characteristics of the flexible robot arm task performability. Initially, we analyze the possibility to compensate the end-effector position errors due to the link flexural displacements by the joint displacements, formulate a new concept of the compensability, and derive theorems and lemmas to judge the compensability. Next, we propose an index, called the compensability measure, in oder to evaluate the degree of compensability. Lastly, we discuss the manipulability of flexible robot arms by using the compensability concept, and clarify the fact that the structural flexibility deteriorates the manipulability of the robot arms because the end-effector position errors due to it needs to be compensated.
一般社団法人日本ロボット学会の論文