Dynamic Modeling Method on Space Robot Dexterous Hand Based on Finite Element Theory

DOI

10.2991/esm-16.2016.19How to use a DOI?

Keywords

Robot, dexterous hand, finite element theory, dynamic modeling, motion control

Abstract

Robot is a complex system consisting of multiple joints and connecting rods with complex coupling relationship between multiple inputs and multiple outputs, making it very difficult to establish the dynamic model of the robot. In order to realize the real-time control of the robot and improve the control precision, it is not enough to simply carry out dynamic simulation on the basis of ADAMS software. It is necessary to analyze the relationship between the driving force and torque of the system and the motion information from the robot mechanism. Based on the finite element theory, a simple and efficient modeling method of robot dynamics is presented in this paper. It has universal applicability for various complex robot systems, which can provide a theoretical basis for the high accuracy and real-time control of robot.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Bohan Lv
AU  - Shan Liu
AU  - Jinshu Gu
AU  - Guangshang Zeng
PY  - 2016/08
DA  - 2016/08
TI  - Dynamic Modeling Method on Space Robot Dexterous Hand Based on Finite Element Theory
BT  - Proceedings of the 2016 International Conference on Engineering Science and Management
PB  - Atlantis Press
SP  - 79
EP  - 83
SN  - 2352-5401
UR  - https://doi.org/10.2991/esm-16.2016.19
DO  - 10.2991/esm-16.2016.19
ID  - Lv2016/08
ER  -