Simulation Model of a 2 Degrees of Freedom Industrial Manipulator, Report no. LiTH-ISY-R-3020
نویسنده
چکیده
A simulation model for a two degrees of freedom industrial manipulator where an accelerometer is attached to the robot arm is presented. An overview of the kinematic and dynamic models as well as a thorough description of the accelerometer model are given. The simulation model can be run with di erent types of properties, e.g. model errors and disturbances. Di erent types of suggested simulation setups are also presented in the paper.
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تاریخ انتشار 2011