Predictive-based method for modelling and control of robot arm

L. Goren*, I. Eksin, D. Enarun

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Özet

To simulate the motion of a manipulator, one must make use of a model of real robot dynamics, where the robot dynamics is usually given by the Newton-Euler equations. A reliable model of a robot is essential not only for simulation purposes but also to let the designer to develop better control algorithms. In literature, the models usually used are given by state-equations; the basic disadvantage of using these models is that they create cumulative errors in simulation. In this study, a new method is proposed which determines the error between the discrete, linear, time-variant model and the real robot dynamics over torques. This error dynamic which possess a predictive character produced very efficient results in obtaining error-free model of a robot.

Orijinal dilİngilizce
Sayfalar211-216
Sayfa sayısı6
Yayın durumuYayınlandı - 1991
EtkinlikProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control - Tallinn, USSR
Süre: 13 Ağu 199017 Ağu 1990

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???event.eventtypes.event.conference???Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control
ŞehirTallinn, USSR
Periyot13/08/9017/08/90

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