Title :
Dynamic analysis and control of robotic manipulator for chemically aggressive environments
Author :
Goubej, M. ; Svejda, M.
Author_Institution :
Dept. of Cybern., Univ. of West Bohemia, Pilsen, Czech Republic
fDate :
Feb. 27 2013-March 1 2013
Abstract :
The paper deals with newly developed industrial robotic manipulator with special serio-parallel architecture which was designed for operation in chemically aggressive environment. Dynamical analysis of the manipulator is performed for the purpose of control law synthesis. General method for derivation of static models is presented.
Keywords :
chemical hazards; control system synthesis; hazardous areas; industrial manipulators; manipulator dynamics; manipulator kinematics; chemically aggressive environments; control law synthesis; dynamic analysis; dynamic control; industrial robotic manipulator; parallel manipulator; serial manipulator; serio-parallel architecture; static model derivation; Dynamics; End effectors; Gravity; Joints; Kinematics; Industrial robots; decentralized PID control; force balance; inverse and direct kinematic problem;
Conference_Titel :
Mechatronics (ICM), 2013 IEEE International Conference on
Conference_Location :
Vicenza
Print_ISBN :
978-1-4673-1386-5
Electronic_ISBN :
978-1-4673-1387-2
DOI :
10.1109/ICMECH.2013.6518548
