DocumentCode
1844043
Title
Study of the effect of external disturbances on the position control of IRIS modular and reconfigurable manipulator
Author
Melek, William W. ; Najjaran, Homayoun
Author_Institution
Dept. of Mech. Eng., Waterloo Univ., Ont., Canada
Volume
1
fYear
2005
fDate
29 July-1 Aug. 2005
Firstpage
144
Abstract
In this paper, we derive a mathematical formulation that relates the end-effector tracking error to the end point payload carried by a modular reconfigurable manipulator (IRIS) in two different configurations. The effect of varying the end point payload on the independent joint position error is investigated experimentally on the two configurations of the modular and reconfigurable robot.
Keywords
control system analysis; end effectors; position control; IRIS modular reconfigurable manipulator; end point payload; end-effector tracking error; external disturbances; independent joint position error; mathematical formulation; position control; Equations; Gravity; Iris; Manipulator dynamics; Mechanical engineering; Payloads; Performance analysis; Position control; Robot kinematics; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN
0-7803-9044-X
Type
conf
DOI
10.1109/ICMA.2005.1626537
Filename
1626537
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