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General information |
| Author |
Kaleli, Alirıza; Dumlu, Ahmet; Çorapsız, M. Fatih; Erentürk, Köksal |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Robotic manipulators on a moving base are used
in many industrial and transportation applications. In this
study, the modelling of a RRP SCARA‐type serial
manipulator on a moving base is presented. A Lagrange‐
Euler approach is used to obtain the complete dynamic
model of the moving‐base manipulator. Hence, the
dynamic model of the manipulator and the mobile base are
expressed separately. In addition, Virtual Instrumentation
(VI) is developed for kinematics, dynamics simulation and
animation of the manipulator combined with the movingbase
system. Using the designed VI in LabView, the
relationship between frequency of disturbances of the
moving base and joint torques is investigated. The
obtained results are presented in graphs. |
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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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