Design principles of digitally controlled robots

G. Stépán, A. Steven, L. Maunder

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

The primary mechanical and control parameters of robots are usually determined for design purposes by reference to theories of linear and continuous systems, which provide a simple and attractive engineering approach. However, non-linear phenomena such as the Coulomb friction and backlash, and the effects of digitalccontrol can lead subsequently to long and tedious experimental development. The paper proposes digital methods of design that accomodate these difficulties. Experiments on a special-purpose three degree of freedom robot have confirmed the validity of the approach in that application.

Original languageEnglish
Pages (from-to)515-527
Number of pages13
JournalMechanism and Machine Theory
Volume25
Issue number5
DOIs
Publication statusPublished - 1990

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Robots
Friction
Experiments

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Engineering(all)

Cite this

Design principles of digitally controlled robots. / Stépán, G.; Steven, A.; Maunder, L.

In: Mechanism and Machine Theory, Vol. 25, No. 5, 1990, p. 515-527.

Research output: Contribution to journalArticle

Stépán, G. ; Steven, A. ; Maunder, L. / Design principles of digitally controlled robots. In: Mechanism and Machine Theory. 1990 ; Vol. 25, No. 5. pp. 515-527.
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