Appendix Experiments Relating Task and Manipulator Characteristics to Performance
نویسنده
چکیده
A review of literature shows that little progress has been made towards quantifying the manipulator characteristics necessary to provide a given performance at a given task. Controlled single factor experiments can be performed by simulating the characteristics of interest and inserting them into the dynamics via the joint control system. Backlash, Coulomb friction, and many other important effects can be studied in this manner. The authors' research utilizes an experimental electric arm controlled by microprocessor, which is described below.
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تاریخ انتشار 2011