Comparative Analysis of the Controllers for PUMA 560 Robot
نویسندگان
چکیده
منابع مشابه
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560
Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...
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There is presented a design of a sliding mode position control algorithm for the PUMA 560 robot position control. The Lagrange-Euler model of a robot is used for calculation of robot law. Computer simulations of the robot with the sliding mode control were performed. The presented control algorithm shows a good robustness with respect to the robot model uncertainty.
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The PUMA 560 robot has been well studied and used in countless experiments over many years and in many laboratories. However, it remains a challenge to assemble the complete data needed for model-based control of the robot. This paper presents a numerical comparison of kinematic, dynamic and electrical parameters for the PUMA 560 robot which have been reported in the literature. For the rst tim...
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In this paper, a Simulink Robotic Toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/SIMULINK-based platform. Through the use of the Real-Time Linux Target and the Real-Time Windows Target, the SRTK can be executed on the Linux or Win32-based operating systems (e.g., Windows 95/98/NT) in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRT...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2016
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2016.12.017