• DocumentCode
    3613534
  • Title

    Closed-form kinematic and dynamic models of an industrial-like RRR robot

  • Author

    D. Kostic;R. Hensen;B. de Jager;M. Steinbuch

  • Author_Institution
    Dept. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands
  • Volume
    2
  • fYear
    2002
  • fDate
    6/24/1905 12:00:00 AM
  • Firstpage
    1309
  • Abstract
    Presents closed-form kinematic and dynamic models of a robot with three rotational degrees of freedom. The derivation of the models and estimation of their parameters are explained. Relevancy of the models is investigated with a writing task. Validation results, obtained by simulation and experiment, establish correctness of the models and illuminate their practical benefits.
  • Keywords
    "Kinematics","Service robots","Motion control","Parameter estimation","Torque control","Manufacturing","Industrial control","Orbital robotics","Mechanical engineering","Writing"
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2002. Proceedings. ICRA ´02. IEEE International Conference on
  • Print_ISBN
    0-7803-7272-7
  • Type

    conf

  • DOI
    10.1109/ROBOT.2002.1014724
  • Filename
    1014724
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3613534