- Tytuł:
- Prototype and design of six-axis robotic manipulator
- Autorzy:
-
Pająk, Mateusz
Racław, Marcin
Piotrowski, Robert - Powiązania:
- https://bibliotekanauki.pl/articles/2204557.pdf
- Data publikacji:
- 2022
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
industrial manipulator
servostepper motor
cascade control
stateful machine - Opis:
- The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows tracking of the current position of each axis. This can be used to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows one to tune parameters of the controllers for both control loops: inner, related to the speed of the robot; outer, related to its position.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 1; 46--52
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł