SCARA tipusu robotok palyakovetesi tulajdonsagaira epulo adaptiv szabalyozas

Translated title of the contribution: Adaptive reverse control of SCARA type robots based on their track following features

Janos Bito, Jozsef Tar

Research output: Contribution to journalArticle

Abstract

With the help of a reverse control strategy applicable with 'SCARA' robots of horizontal work plane, an exact trajectory reproduction can be achieved, which is not sensitive to the load actually carried by the robot, but capable of perceiving it at the same time. The main feature of the strategy is its adaptability to the equations of motion of classical mechanics - regarded as the fundamental core of the problem. Due to this adaptability, very simple considerations become useable for the almost qualitative description of the operation of closed loops characteristic for the reverse control, even despite the strong, nonlinear connections of the mechanical equations of motion.

Translated title of the contributionAdaptive reverse control of SCARA type robots based on their track following features
Original languageHungarian
Pages (from-to)196-203
Number of pages8
JournalMeres es Automatika
Volume36
Issue number7
Publication statusPublished - Dec 1 1988

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Adaptive reverse control of SCARA type robots based on their track following features'. Together they form a unique fingerprint.

  • Cite this