Modelling an industrial manipulator: a case study.
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Practical modelling and validation of an open-chain industrial manipulator is presented in this paper. A model was obtained to enable an optimal path-planning controller to be designed. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. Agreement with model predictions to within 86% for the smallest link and better than 96% for the major joints is achieved. This is part of a series illustrating the effectiveness of simple validation techniques on increasingly complex problems to enable a process of validation to be established. Others have since used this approach.
|Research Areas:||Science & Technology > Software Process, Practice & Design|
|Citations on ISI Web of Science:||9|
|Deposited On:||15 Oct 2008 15:14|
|Last Modified:||06 Feb 2013 11:40|
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