Joint angle servoed robots require rigid links for positioning accuracy. These massive links inhibit dynamic performance. Lightweight links allow faster motion, but their flexibility produces positioning errors. End-point control systems can observe and compensate for these errors thus allowing for precise lightweight robots. An adaptive end-point control system has been developed. Simulation results indicate that deflection induced errors have been significantly reduced.
|Original language||English (US)|
|Title of host publication||Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference|
|Editors||Robert Hanham, William G. Vogt, Marlin H. Mickle, M.A. Aburdene, R.D. Green, H.Q. Lu, A. Rose, S. Ak, C. Gubala, V.P. Lukic, H.A. Ryaciotaki-Boussalis|
|Number of pages||7|
|State||Published - Dec 1 1986|
|Name||Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference|
All Science Journal Classification (ASJC) codes