Real Time Calculation of Static Deflections

Last Update: January 29, 1996 Comments or Suggestions? krumm@iai.fzk.de

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 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.

Publications

Krumm, H.G.
Real time calculation of static deflections and real time dynamics for Robots with KISMET
in:
Stephenson, J. (Editor):
Modelling and Simulation 1992: Proc. of the 1992 European Simulation Multiconference,
York, GB, 1992

See also: [Real-Time Dynamics], [Force Feedback]
This page is maintained by
Hans-Georg Krumm krumm@iai.fzk.de
Institut für angewandte Informatik (IAI)
Forschungszentrum Karlsruhe
Have a look at my homepage