منابع مشابه
Hand-Eye Calibration of SCARA Robots
In SCARA robots, which are often used in industrial applications, all joint axes are parallel, covering three degrees of freedom in translation and one degree of freedom in rotation. Therefore, conventional approaches for the handeye calibration of articulated robots cannot be used for SCARA robots. In this paper, we present a new linear method that is based on dual quaternions and extends the ...
متن کاملMotion Planning of SCARA Robots for Trajectory Tracking
The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifi...
متن کاملTrajectory tracking for SCARA robots with compliant transmissions: a technique to improve the positioning precision
The paper describes a method for reducing the positioning errors of a SCARA manipulator during the execution of a motion along a given trajectory; the stiffness and damping properties of the robot transmissions are considered in the mathematical model by introducing viscoelastic components between the actuators and the arms. By means of an optimization algorithm the motion laws of the actuators...
متن کاملTerminal Sliding Control for a SCARA Robot
This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...
متن کاملIk 2009
KI 2009 is the 32nd edition of the German Conference on Artificial Intelligence, which traditionally brings together academic and industrial researchers from all areas of AI. The technical programme of KI 2009 will comprise paper and poster presentations and a variety of workshops and tutorials. We invite proposals for workshops to be held at the beginning of the conference. Eligible topics inc...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Process Management. New Technologies
سال: 2013
ISSN: 2334-735X,2334-7449
DOI: 10.5937/jpmnt1302019m