Microcomputer-based real-time control of a pantograph mechanism robot

Microcomputer-based real-time control of a pantograph mechanism robot

Source :

• Engineering with Computers [ 0177-0667 ] ; 1990.

English descriptors

• Entity :
  • org : Chicago Research Board, Department of Mechanical Engineering, University of Akron, Akron, OH, Pantograph Mechanism Robot Yueh-Jaw Lilt Department of Mechanical Engineering, Universityof Akron, Akron, OH, USA Shin-Min Song Department of Mechanical Engineering, Universityof Illinois, Roland Priemer Department of Electrical Engineering and Computer Science, University of Illinois.
  • pers : J. Lin, TIME Fig.
  • place : Chicago, IL, USA, Velocity.
• Teeft :
  • Acceleration response, Acceptable accuracy, Accuracy requirement, Actuator, Algorithm, Angular variable, Approximate coefficient, Approximate generalized force, Approximate model, Centrifugal term, Coefficient, Complete lagrange formulation, Component part, Computation time, Computational, Computational burden, Computational complexity, Computational efficiency, Computational requirement, Control algorithm, Control loop, Control system, Controller gain, Conventional manipulator, Coriolis term, Cubic polynomial, Cubic polynomial joint trajectory, Decoupled kinematics, Discrete time control, Dynamic equation, Dynamic model, Dynamic response, Dynamic syst, Entire surface, Error signal, Exact coefficient, Exact model, Exact model response, Feedback control algorithm, Freedom manipulator, Freedom motion, Generalized coordinate, Generalized force, Goal position, Good agreement, Ieee, Ieee conference, Ieee trans, Inverse, Inverse dynamic, Inverse dynamic problem, Inverse kinematics, Inverse kinetics, Joint acceleration, Joint trajectory, Kinematic, Kinematic chain, Kinematics, Kinetic energy, Kinetic equation, Kinetics, Lagrange, Lagrange dynamic model, Lagrange equation, Lagrange formulation, Lagrange method, Linearized, Linearized coefficient, Linearized coefficient model, Linearized model, Linearized model acceleration, Magnification factor, Manipulator, Manipulator control, Manipulator dynamic, Manipulator system, Mass center, Maximum acceleration, Mechanical efficiency, Mechanical engineering, Mechanical manipulator, Microcomputerbased control, Much research, Much simpler, Nonlinear, Nonlinear term, Numerical integration, Pantograph, Pantograph link, Pantograph manipulator, Pantograph mechanism, Pantograph mechanism robot, Pantograph type manipulator, Partitioning technique, Planar, Planar surface, Planar surface fitting scheme, Plane function, Position response, Potential energy, Previous section, Relative error, Robot, Sampling rate, Second derivative, Servo controller, Simple kinematic description, Simple pantograph, Simple pantograph manipulator, Simplified model, Simulation, Simulation result, Smooth function, Solid line, Time time, Trajectory, Trigonometric, Trigonometric function, Velocity response.

Abstract

• https://api.istex.fr/ark:/67375/1BB-L18S5PS8-F/fulltext.pdf

Affiliations:

• États-Unis
• Illinois, Ohio
• Chicago
• Université de l'Illinois à Chicago

Links toward previous steps (curation, corpus...)

• to stream Istex, to step Corpus: 001054
• to stream Istex, to step Curation: 000F88
• to stream Istex, to step Checkpoint: 001A17
• to stream Main, to step Merge: 001C75
• to stream Main, to step Curation: 001C60

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Wicri/ChansonRoland/explor/ChansonRolandV6/Data/Main/Exploration

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001C60 | SxmlIndent | more

Ou

HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001C60 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Wicri/ChansonRoland
   |area=    ChansonRolandV6
   |flux=    Main
   |étape=   Exploration
   |type=    RBID
   |clé=     ISTEX:A43D8DBE98AE1AEAFE3828D63F1A97BFF4ADD29D
   |texte=   Microcomputer-based real-time control of a pantograph mechanism robot
}}

This area was generated with Dilib version V0.6.38. Data generation: Mon Jun 21 12:12:57 2021. Site generation: Tue Jun 22 14:52:22 2021