Title :
Educational Cartesian robot based on linear drives
Author_Institution :
Dept. of Robotics & Machine Dynamics, AGH-UST, Cracow, Poland
Abstract :
In the paper a construction of a Cartesian based educational robot is presented. In the presented construction, modern linear actuators are implemented. The paper describes types of drives used in construction, mechanical design, software architecture and feed-forward parameters adjustment technique used in robot control. Experimental results from laboratory controller parameter adjustments are presented.
Keywords :
actuators; control engineering education; educational aids; electric drives; industrial manipulators; linear systems; mechatronics; robot programming; educational Cartesian robot; feed-forward parameters adjustment technique; linear drives; mechanical design; modern linear actuators; robot control; software architecture; Control systems; DC motors; Educational robots; Modems; Open loop systems; Robot control; Robot kinematics; Service robots; Servomotors; Synchronous motors;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240646
