Modelling an industrial manipulator a case study

Miro, JV; White, AS

Modelling an industrial manipulator a case study

Miro, JV

White, AS

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Publication Type:: Journal Article
Citation:: Simulation Practice and Theory, 2002, 9 (6-8), pp. 293 - 319
Issue Date:: 2002-05-15

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Field	Value	Language
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	White, AS	en_US
dc.date.issued	2002-05-15	en_US
dc.identifier.citation	Simulation Practice and Theory, 2002, 9 (6-8), pp. 293 - 319	en_US
dc.identifier.issn	0928-4869	en_US
dc.identifier.uri	http://hdl.handle.net/10453/9163
dc.description.abstract	A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. A model was obtained to enable an optimal path-planning controller to be designed. The paper describes how the equations of motion were derived and how the key parameters were obtained. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. The overall motion was found to give an agreement with the model predictions to within 86% for the smallest link and better than 96% for the major joints. © 2002 Elsevier Science B.V. All rights reserved.	en_US
dc.relation.ispartof	Simulation Practice and Theory	en_US
dc.relation.isbasedon	10.1016/S0928-4869(01)00046-5	en_US
dc.subject.classification	Operations Research	en_US
dc.title	Modelling an industrial manipulator a case study	en_US
dc.type	Journal Article
utslib.citation.volume	6-8	en_US
utslib.citation.volume	9	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0802 Computation Theory and Mathematics	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.issue	6-8	en_US
pubs.publication-status	Published	en_US
pubs.volume	9	en_US

Abstract:

A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. A model was obtained to enable an optimal path-planning controller to be designed. The paper describes how the equations of motion were derived and how the key parameters were obtained. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. The overall motion was found to give an agreement with the model predictions to within 86% for the smallest link and better than 96% for the major joints. © 2002 Elsevier Science B.V. All rights reserved.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/9163