Prototype and Design of Six Axis Robotic Manipulator
نویسندگان
چکیده
The paper presents a design of six axis manipulator. consists specially designed solutions for housing, planetary gearboxes and electronics. manipulator is controlled by supervisory control system. use series measuring elements allows to track the current position each this create cascade loop with velocity acceleration feed-forward. implemented algorithm together microcontroller software tune parameters controllers both loops: inner, related speed robot outer, it’s position.
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ژورنال
عنوان ژورنال: Journal of Automation, Mobile Robotics & Intelligent Systems
سال: 2023
ISSN: ['1897-8649', '2080-2145']
DOI: https://doi.org/10.14313/jamris/1-2022/5