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
EDITH
-boom
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
KISMET
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
EDITH
-boom.
The wireframe model shows the position without
calculation of static deflection while the Gourad shaded model
shows the deflected position.
Static Deflection (JPEG 98 kB)
