منابع مشابه
Modelling of a Direct Drive Industrial Robot
For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). T...
متن کاملScaling of Direct Drive Robot Arms
This paper studies the ways that the performance of direct drive serial robots changes as system size is changed. We are particularly interested in the physical laws for scaling down direct drive arms to small sizes. Using theoretical scaling analysis, we show that there is a net physical performance advantage to small direct drive arms. A key factor for direct drive robot performance is the to...
متن کاملRobust attenuation of direct-drive robot-tip vibrations
This paper suggests and employs a method for reducing vibrations at the tip of a robot. The vibrations, caused by structural flexibility, are detected using accelerometers. The robot control system consists of two complementary sub-systems: a nominal motion controller and a vibration compensator. The former one realizes joint motions in accordance with a prescribed tip trajectory. The latter on...
متن کاملGait Development On A Direct Drive, Quadrupedal Robot
The development of dynamic, quadrupedal robots is becoming an increasing topic of interest with the growing demand for robotic interaction in the human environment, but they require adaptable control schemes to address the challenges encountered while traversing real world terrains. In this study, we explore improvements to both physical and control methods to a quadrupedal system in order to a...
متن کاملThe Switched Reluctance Motor Drive for the Direct-Drive Joint of the Robot
The paper presents the principles of the decoupling control of the phase voltage in the Switched Reluctance motor drive for the direct-drive joint of the robot. The motor drive system elements, such as the structure of the three-phase 6/10 structure Switched Reluctance motor and the rotor position, the main circuit topology of the three-phase bifilar winding power converter and the pulse width ...
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ژورنال
عنوان ژورنال: Journal of the Japan Society of Precision Engineering
سال: 1985
ISSN: 0374-3543
DOI: 10.2493/jjspe1933.51.2028