Integrated model of industrial robot for control applications
This paper deals with the development of an intergrated mathematical model of a robot manipulator. The model of the system comprises the mechanical part of the robot as well as the actuators and the gear trains. Two different approaches of deriving the integrated model are presented which results in...
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Penerbit UTM Press
1992
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Online Access: | http://eprints.utm.my/id/eprint/1244/1/JohariHalimShah1992_IntegratedModelOfIndustrialRobot.pdf http://eprints.utm.my/id/eprint/1244/ http://dx.doi.org/10.11113/jt.v19.1055 |
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my.utm.12442017-11-01T04:17:56Z http://eprints.utm.my/id/eprint/1244/ Integrated model of industrial robot for control applications Osman, Johari Halim Shah TK Electrical engineering. Electronics Nuclear engineering This paper deals with the development of an intergrated mathematical model of a robot manipulator. The model of the system comprises the mechanical part of the robot as well as the actuators and the gear trains. Two different approaches of deriving the integrated model are presented which results in two different forms of the integrated dynamic model of the robot manipulator in state space description. Both types of the integrated model are highly nonlinear, time varying, and represent a more realistic model of the robotic system. The integrated model and the approach are useful and suitable for dynamic analysis and control synthesis purposes, and will provide a more efficient approach to the real situation. Penerbit UTM Press 1992-06 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/1244/1/JohariHalimShah1992_IntegratedModelOfIndustrialRobot.pdf Osman, Johari Halim Shah (1992) Integrated model of industrial robot for control applications. Jurnal Teknologi, 19 . pp. 27-41. ISSN 2180-3722 http://dx.doi.org/10.11113/jt.v19.1055 doi:10.11113/jt.v19.1055 |
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This paper deals with the development of an intergrated mathematical model of a robot manipulator. The model of the system comprises the mechanical part of the robot as well as the actuators and the gear trains. Two different approaches of deriving the integrated model are presented which results in two different forms of the integrated dynamic model of the robot manipulator in state space description. Both types of the integrated model are highly nonlinear, time varying, and represent a more realistic model of the robotic system. The integrated model and the approach are useful and suitable for dynamic analysis and control synthesis purposes, and will provide a more efficient approach to the real situation. |
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Article |
author |
Osman, Johari Halim Shah |
author_facet |
Osman, Johari Halim Shah |
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Osman, Johari Halim Shah |
title |
Integrated model of industrial robot for control applications |
title_short |
Integrated model of industrial robot for control applications |
title_full |
Integrated model of industrial robot for control applications |
title_fullStr |
Integrated model of industrial robot for control applications |
title_full_unstemmed |
Integrated model of industrial robot for control applications |
title_sort |
integrated model of industrial robot for control applications |
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Penerbit UTM Press |
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1992 |
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http://eprints.utm.my/id/eprint/1244/1/JohariHalimShah1992_IntegratedModelOfIndustrialRobot.pdf http://eprints.utm.my/id/eprint/1244/ http://dx.doi.org/10.11113/jt.v19.1055 |
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