Sabiia Seb
        Busca avançada

Botão Atualizar

Botão Atualizar

Registro completo
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
Editor:  INTECH Open Access Publisher
Relação:  ISBN:978-3-902613-20-2

Empresa Brasileira de Pesquisa Agropecuária - Embrapa
Todos os direitos reservados, conforme Lei n° 9.610
Política de Privacidade
Área restrita

Parque Estação Biológica - PqEB s/n°
Brasília, DF - Brasil - CEP 70770-901
Fone: (61) 3448-4433 - Fax: (61) 3448-4890 / 3448-4891 SAC:

Valid HTML 4.01 Transitional