Nokia Puma 560 robot megfogójának rekonstrukciója, adapter tervezése és alkalmazása KUKA KR5 ipari robotkar számára tervezett cellában
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...
متن کاملPredictive Computed-torque Control of a Puma 560 Manipulator Robot
Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...
متن کاملRealistic Modeling and Dynamic Simulation of KUKA KR5 Robot using RecurDyn
The design of an industrial robot often involves a multi-body mechanical system driven by a microprocessor based sophisticated control system. With the advent of various dynamic simulation packages (ExADAMS, RecurDyn, Autodesk Inventor etc.), one can easily perform dynamic simulation of complex mechanical systems assuming an oversimplified control scheme. Similarly, with various control system ...
متن کاملA Search for Consensus Among Model Parameters Reported for the PUMA 560 Robot
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...
متن کاملDesign of prisoner’s dilemma-based fuzzy C-means computed torque controller for PUMA-560 robot manipulator
Robots are highly nonlinear and chaotic in position control. The present paper mainly presents the position control of PUMA-560 Robot manipulator. Computed torque controller (CTC) is one of the solutions for position control of robot manipulators. The main drawback of controller is that it fails to operate under different dynamic operating conditions. To overcome this difficulty, intelligent co...
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ژورنال
عنوان ژورنال: Műszaki Tudományos Közlemények
سال: 2019
ISSN: 2393-1280,2668-1390
DOI: 10.33895/mtk-2019.11.41