920679

SME MS910339

Simplification Of Dynamics And Control Of Industrial Robots Through Design

standard by Society of Manufacturing Engineers , 06/01/1991

Nikolic, Ilija Z. ; Arsovski, Slavko

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Full Description

THIS PAPER PROVIDES THE PRECISE CONCEPT OF CONSTRUCTION OF IR WITH COMPLETELY LINEAR DYNAMICS AND CONTROL. ADVANTAGES OF THESE LINEAR MODELS ARE MANY: THEY REQUIRE MINIMUM NUMBER OF COMPUTATIONS WHICH CAN BE PERFORMED IN REAL TIME WITH USE OF SIMPLE MICROPROCESSORS, THEY DO NOT REQUIRE USE OF NONLINEAR CONTROL LAWS, AND WITH THE SAME ACTUATORS, THEY ALLOW HIGHER WORKING SPEEDS OF IR. IT IS ALSO POSSIBLE, WITH SOME CONSTRUCTIONAL CHANGES, TO LINEARIZE THE EXISTING IR BY BALANCING.
 

Product Details

Published:
06/01/1991
Number of Pages:
14
File Size:
1 file , 900 KB