Positional control of articulated robots
The main problem in controlling a robot can be stated thus: with the AMS in any possible configuration (which means that the articulated variables, θi, have any realizable value), the end effector (ie its coordinate reference axes) must be placed at a point in space with a definite orientation, relative to a fixed coordinate set (Rf) related to the environment — the coordinate set (R0) related to the base of the robot is known relative to Rf.
KeywordsControl Voltage Reduction Gear Gravitational Torque Definite Orientation Balance Configuration
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