Title :
Experimental tests on a SCARA robot to evaluate the fitness and the limits of a model
Author :
Faglia, Rodolfo ; Legnani, Giovanni
Abstract :
Discusses the degree of fitness of a dynamic model of a SCARA robot. The model takes into account the elasticity, the clearance and the irregularity of the speed reducers. The discussion compares actual data, collected during experimental tests on a commercial robot, with results obtained via computer simulation. Problems related with the parameters determination and instability of the controller are highlighted.<>
Keywords :
digital simulation; dynamics; elasticity; robots; SCARA robot; clearance; computer simulation; controller; degree of fitness; dynamic model; elasticity; instability; irregularity; speed reducers; Computer simulation; Context modeling; Damping; Elasticity; Friction; Manipulators; Parameter estimation; Robot motion; Service robots; Testing;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240370
