Closed-Form Kinematic And Dynamic Models of an Industrial-Like RRR Robot

Description

Estudio cinemático de Robot Scara
Johann Andrés  Argüello CRUZ
Mind Map by Johann Andrés Argüello CRUZ, updated more than 1 year ago
Johann Andrés  Argüello CRUZ
Created by Johann Andrés Argüello CRUZ almost 9 years ago
21
0

Resource summary

Closed-Form Kinematic And Dynamic Models of an Industrial-Like RRR Robot
  1. KINEMATIC MODEL
    1. Calculation of Joint Motions Corresponding to a Given Trajectory of the Robot’s End-Effector.
    2. DINAMIC MODEL
      1. Provides Information About the Control Inputs that Should be Applied to the Joint Actuators
      2. Adopting the LuGre Friction Model
        1. CLOSED-FORM
          1. Given Accuracy of Both Forward and Inverse kinematics Solutions is Much Faster
            1. For Real Time Control
            2. Is Focused on Control Laws Base on a Computed Torque Method
              1. resolve non-linear plant dynamics and to enable a simplified design of motion controllers
              2. DH PARAMETERS OF 3R ROBOT
                1. Advantages of Closed-Form For Inverse Kinematics
                  1. Explicitly Control the Actual Posture
                    1. Elbow Up (- ) or with the Elbow Down (+)
                    2. Requires Far Less Computational Efforts
                      1. Enables Direct Recognition of Irregular Robot Configurations
                      2. UNIVERSIDAD MANUELA BELTRÁN ING. ELECTRÓNICA
                        1. JOHANN A. ARGÜELLO C. ROBÓTICA INDUSTRIAL
                        2. AUTHORS: Dragan Kostik, Ron Hensen, Bram de Jager, Maarten Steinbuch,
                          Show full summary Hide full summary

                          Similar

                          Ratios Quiz
                          rory.examtime
                          Lord of the Flies Quotes
                          sstead98
                          Data Structures & Algorithms
                          Reuben Caruana
                          French Grammar- Irregular Verbs
                          thornamelia
                          GCSE AQA Biology - Unit 2
                          James Jolliffe
                          Strength and Limitations of research methods
                          Isobel Wagner
                          Electrolysis
                          lisawinkler10
                          Conferences of the Cold War
                          Alina A
                          Leaving Certificate Japanese Kanji
                          Sarah Egan
                          el centro comercial
                          Pamela Dentler
                          Specific Topic 7.2 Timber
                          T Andrews