PUMA560 RobotCreated in ADAMS/View virtual environment, it combines the complementary advantages of the ADAMS secondary development programming technology APDL and VC++6.0 to build a rigidity and flexibility coupled parameterized dynamic simulation model of the PUMA560 robot, while through the self ...
robot controldynamic modelA new approach is proposed to construct the dynamic models of robots on the basis of Riemann geometry and tensor analysis. The suggested model belongs to the parametric type. The chosen parameter is a non-linear function of the entire kinetic energy of the robot ...
PUMA 560 Robot and Its Dynamic CharacteristicsThis chapter describes the PUMA 560 industrial robotic system that will be used as the demonstrator throughout this project; highlighting its main components and how they interact with each other. VALAlaa Abdulhady Jaber...
The dynamic characteristics of a PUMA 560 industrial robot have been obtained from analyzing the robot's input and output signals. Motor currents, and the resultant joint motions, were monitored while the robot was under VAL control. The data obtained shows that a simple model-based control ...
doi:10.1109/ROBOT.1986.1087644Brian ArmstrongOussama KhatibJoel W BurdickArmstrong B., Khatib O., Burdick J : The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm: Proc. of the IEEE, Int. Conf. on Robotics and Automation, San Francisco 1986, s. 510–518....
This chapter describes the PUMA 560 industrial robotic system that will be used as the demonstrator throughout this project; highlighting its main components and how they interact with each other...doi:10.1007/978-3-319-44932-6_4Alaa Abdulhady JaberSpringer International Publishing...
geared robot manipulatorsjoint drive systemsgear reduction ratiosdynamic manipulability ellipsoiddynamic manipulability measurejoint drive dynamicsdynamic manipulability distributiontwo-link planar armInformation obtained through the analysis of dynamic manipulability can be useful in the design and control of ...
A polytopic LPV description of the robot is created by the usual Lagrangian linearizing about an arbitrary complex full-scope trajectory. The principal component analysis is implemented for the parameter set mapping and generating a reduced polytopic LPV model to decrease the implementation complexity. ...
The control problem is to calculate the joint force and torque according to the motion trajectory of the robot and its corresponding position, velocity and acceleration. Parameters identification uses an algorithm to solve the parameters to be identified by numerical analysis. In the algorithm, some ...
(1) the Robot dataset, representing the most common case of a single moving object; (2) the Fish dataset, where the fish have colors very similar to the seabed background; (3) the Coral dataset, characterized by very small movements; (4) the Streaks dataset, which includes multiple moving...