Real Time Calculation of Static Deflections
Last Update: January 29, 1996
Comments or Suggestions?
Calculation of Static Deflections - Why?
Kinematics, dynamics and control of a robot have often been
calculated on the condition that the components of the robots,
especilaly the links, can be regarded as stiff. Most of the industrial
robots fulfill the condition of rigidness due to heavyweight
and stiff design.
But special robots or remote handling devices such as the
with an arm length of 10 meters and a weight up to
5 tons carrying a payload of 2 tons can't be regarded as stiff
anymore. By introducing real time calculation of static
deflections into our simulation system
one is able to to verify and simulate each step of a robot
program during off-line teaching with the demanded
accuracy. In the monitoring mode it helps to increase
the accuracy of the simulated position of the robot with
respect to the actual position.
Static Deflection (JPEG 98 kB)
Picture above shows the scaled deflection of the
The wireframe model shows the position without
calculation of static deflection while the Gourad shaded model
shows the deflected position.
Real time calculation of static deflections and
real time dynamics for Robots with KISMET
Stephenson, J. (Editor):
Modelling and Simulation 1992: Proc. of the 1992
European Simulation Multiconference,
York, GB, 1992
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