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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Main Author: Osman, Johari Halim Shah
Format: Article
Language:English
Published: 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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Institution: Universiti Teknologi Malaysia
Language: English
id my.utm.1244
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spelling 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
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Osman, Johari Halim Shah
Integrated model of industrial robot for control applications
description 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.
format Article
author Osman, Johari Halim Shah
author_facet Osman, Johari Halim Shah
author_sort 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
publisher Penerbit UTM Press
publishDate 1992
url 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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