Dynamic Modeling and Simulation of Robot Arm Control Problem via Single Term Haar Wavelet Series Dynamické modelovanie a simulácia ovládacích problémov robotického ramena cez Term Haar Wavelet Series
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چکیده
An error minimization in the robot arm dynamics improves the operations and the performance of production systems.This paper attempts to analyse the performance of an industrial robot by comparing the solutions obtained using RK method and Single-Term Haar wavelet series (STHWS) method. The exact solution of the system of equations representing the arm model of a robot, has been compared with the corresponding discrete solution at different time intervals.The absolute error between the exact and discrete solutions have also been determined in order to suggest the method of improving the performance of a robot. The validation has been carried out with reference to the earlier research output appeared in this field of study.
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تاریخ انتشار 2009