DocumentCode
3337209
Title
Experimental tests on a SCARA robot to evaluate the fitness and the limits of a model
Author
Faglia, Rodolfo ; Legnani, Giovanni
fYear
1991
fDate
19-22 June 1991
Firstpage
1662
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICAR.1991.240370
Filename
240370
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