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Machines 2016, 4(4), 21; doi:10.3390/machines4040021

Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms

Department of Mechanical Engineering, York University, Toronto, ON M3J1P3, Canada
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Author to whom correspondence should be addressed.
Academic Editor: Marco Ceccarelli
Received: 6 July 2016 / Revised: 31 October 2016 / Accepted: 31 October 2016 / Published: 4 November 2016
(This article belongs to the Special Issue Robotic Machine Tools)
View Full-Text   |   Download PDF [3822 KB, uploaded 4 November 2016]   |  

Abstract

Robotic 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
Keywords: serial mechanisms; joint motion; model reference adaptive control; payload effect serial mechanisms; joint motion; model reference adaptive control; payload effect
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Zhang, D.; Wei, B. Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms. Machines 2016, 4, 21.

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