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Ordenar por: RelevânciaAutorTítuloAnoImprime registros no formato resumido
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Error Modeling and Accuracy of Parallel Industrial Robots InTech
Hongliang Cui; Zhenqi Zhu.
Tipo: 21 Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_parallel_industrial_robots
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Error Modeling and Accuracy of TAU Robot InTech
Hongliang Cui; Zhenqi Zhu; Zhongxue Gan; Torgny Brogardh.
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...
Tipo: 13 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_tau_robot
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