Unbounded regulators with variable gains for a direct-drive robot manipulator
نویسندگان
چکیده
منابع مشابه
Statically balanced direct drive manipulator
A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive rotot1. This statically-balanced direct drive robot has been constructed for stability analysis of the robot in constrained maneuvers.2-6 As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were chose...
متن کاملA Statically Balanced Direct Drive Manipulator
A practical architecture, using a four-bar-linkage, is cgnsidered for the University of Minnesota direct drive robot [8]. This staticallybalanced direct drive robot has been constructed for stability analysis of the robot in constrained manipulation [5 -7]. As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers w...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کاملModelling of a Direct Drive Industrial Robot
For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). T...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Automatika ‒ Journal for Control, Measurement, Electronics, Computing and Communications
سال: 2016
ISSN: 1848-3380,0005-1144
DOI: 10.7305/automatika.60-1.969