Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms
AbstractRobotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion will vary under different payload masses, which will decrease the end-effector positioning accuracy of the robotic arm system. Based on the model reference adaptive control technique, the payload variation effect can be solved, therefore improving the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Zhang, D.; Wei, B. Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms. Machines 2016, 4, 21.
Zhang D, Wei B. Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms. Machines. 2016; 4(4):21.Chicago/Turabian Style
Zhang, Dan; Wei, Bin. 2016. "Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms." Machines 4, no. 4: 21.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.