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Provedor de dados:  InTech
País:  N/A
Título:  Error Modeling and Accuracy of TAU Robot
Autores:  Hongliang Cui
Zhenqi Zhu
Zhongxue Gan
Torgny Brogardh
Data:  2008-04-01
Ano:  2008
Palavras-chave:  Parallel Manipulators
New Developments
Resumo:  It can be observed from the results, that Jacobian Matrix is effective with an accuracy up to 1.53 um with an input error of 1 mm (Link 1 of lower arm 1). This was verified using ADAMS simulation results. Results from N-R method match very well with ADAMS simulation with a difference of only 0.06 um. Based on the D-H model and an accurate Jacobian matrix, a series of results have been presented including error analysis, forward kinematic, redundant variable determination, error budget, and Jacobian approximation method. The Jacobian approximation method can be used in on-line control of the robot. For the TAU robot, a closed form solution of a forward kinematic problem is reached with a high accuracy instead of N-R numerical solution. The simulation results are almost perfect compared with that from ADAMS.
Tipo:  13
Idioma:  Inglês
Identificador:  http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_tau_robot
Editor:  INTECH Open Access Publisher
Relação:  ISBN:978-3-902613-20-2
Fonte:  http://www.intechopen.com/download/pdf/pdfs_id/770
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