Development of pantograph-type robot arm equipped with 3-dimentional gravity compensation mechanism
نویسندگان
چکیده
منابع مشابه
a new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
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In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial ...
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1 R&D Department, Creative Design Laboratory, Humanot s.r.l., via Modigliani 7-59100 Prato, Italy 2 Department of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan 3Humanoid Robotics Institute, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan 4The BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34,...
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ژورنال
عنوان ژورنال: Transactions of the JSME (in Japanese)
سال: 2017
ISSN: 2187-9761
DOI: 10.1299/transjsme.16-00556