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General information |
| Author |
Gasparetto, Alessandro; Moosav, Amir Kiaeian; Boscariol, Paolo; Giovagnoni, Marco |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Nowadays, one of the main topics in robotics
research is dynamic performance improvement by means
of a lightening of the overall system structure.
The effective motion and control of these lightweight
robotic systems occurs with the use of suitable motion
planning and control process. In order to do so, modelbased
approaches can be adopted by exploiting accurate
dynamic models that take into account the inertial and
elastic terms that are usually neglected in a heavy rigid
link configuration.
In this paper, an effective method for modelling spatial
lightweight industrial robots based on an Equivalent
Rigid Link System approach is considered from an
experimental validation perspective.
A dynamic simulator implementing the formulation is
used and an experimental test‐bench is set‐up.
Experimental tests are carried out with a benchmark
L‐shape mechanism. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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