Title :
Modeling and control of the Merlin 6200 industrial robot
Author :
El-Itaoui, A. ; Eltimsahy, Adel
Author_Institution :
Dept. of Electr. Eng., Toledo Univ., OH, USA
Abstract :
A dynamic model for the Merline 6200 industrial robot system which is suitable for optimization and control studies is derived by making use of the Lagrange-Euler method. A controller that is based on ideas from sliding mode and optimal control theory is applied to the linearized dynamic model to enable the arm to track a preplanned trajectory with minimum error. The results of computer simulations indicate that the dynamic model derived is suitable for control studies and that the controller applied is an accurate one
Keywords :
control system analysis; industrial robots; optimal control; optimisation; Lagrange-Euler; Merlin 6200; dynamic model; industrial robot; optimal control; optimization; sliding mode; Computer errors; Electrical equipment industry; Error correction; Industrial control; Lagrangian functions; Optimal control; Optimization methods; Service robots; Sliding mode control; Trajectory;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12306
