Experimental Studies of Joint Flexibility for PUMA 560 Robot

摘要

There is a potential in the Navy and the Department of Defense for the utilization of robot manipulators in a wide range of applications. First, they could be used in applications that are performed in environments dangerous to men. These include under-water work, fire fighting, tank and void preservation and reactor spaces. Second, many patrol and/or security functions could be performed by robot releasing the operator to a position of supervisory control over many units. Third, robotic submersibles are being used now to explore areas of our under-sea environment that were out of economical range before their use. This will lead to a closer determination of the resources available in our oceans and their subsequent exploitation. There is also a large potential for the use of robots in space. The weight limitations will demand manipulators to be flexible compared of control of these flexible arms will have to be studied prior to their implementation. In addition, the robot manipulators currently installed in industry have the potential for increased productivity if their performance could be enhanced. The enhanced performance demands the understanding of the flexibility effects and their integration into the control algorithm.