Modelling an industrial manipulator: a case study

Miro, Jaime Valls and White, Anthony S. (2002) Modelling an industrial manipulator: a case study. Simulation modelling practice and theory, 9 (6). pp. 293-319. ISSN 1569-190X

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Abstract

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.

Item Type:Article
Research Areas:School of Science and Technology > Computer and Communications Engineering
Citations on ISI Web of Science:9
ID Code:65
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Deposited On:15 Oct 2008 15:14
Last Modified:01 Apr 2014 08:07

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