Micrometre Scale Performances of Industrial Robot Manipulators

Micrometre Scale Performances of Industrial Robot Manipulators

Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on...

Dynamics simulation toolbox for industrial robot manipulators

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on...

A Simple Controller of Robot Manipulators for Industrial Application

In this article, we test a new control algorithm with non–linear structure for the position control problem of robot manipulators. We have demonstrated by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed–loop system is globally asymptotically stable through the Lyapunov’s direct method together with LaSalle invariance principle. Expe...

Trajectory Planning and Control of Industrial Robot Manipulators

On the Fault Detection and Isolation of Industrial Robot Manipulators

Fault detection and isolation of robot manipulators is a subject that has been widely investigated in the past decade and different methodologies have been proposed. However, there is still a lack of techniques that are adequate to a straightforward application to the detection of real fault in industrial robots. In this paper we propose a very simple but effective strategy for fault detection ...