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
fDate :
6/24/1905 12:00:00 AM
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"
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA ´02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014724
