On modelling and simulation of a manipulator under consideration of a jammed joint

Nguyen Quang Hoang

Abstract


In this paper, the modelling of a jamming process of a joint during the operation of a manipulator is presented. Based on the kinematic property of a jamming process, a motion law of the jammed joint is chosen. By introducing a matrix corresponding to jammed joint, the equation of motion of the system is restructured without re-deriving. Some numerical simulations are carried out to illustrate the proposed algorithm.

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DOI: https://doi.org/10.15625/0866-7136/32/3/306

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