Title :
Analytical research and simulation of three limbs robot
Author :
Fujino, Yoshikazu ; Motomatsu, H. ; Ono, Yoshihide
Author_Institution :
Kyushu Sangyo Univ., Fukuoka, Japan
fDate :
28 Oct-1 Nov 1991
Abstract :
The authors describe the analytical research and simulation of three limb robots (TL-robots). The fundamental kinematic analysis of the TL-robot is applied to the motion in a plane with two degrees of freedom. A control algorithm for closed-loop robots is presented which meets the advanced demands of manipulation requiring a high mechanical rigidity within a framework of precision and high velocity. Simulation results and experimental data are presented
Keywords :
closed loop systems; kinematics; robots; analytical research; closed-loop robots; kinematic analysis; mechanical rigidity; simulation; three limbs robot; two degrees of freedom; Analytical models; Control systems; Kinematics; Motion analysis; Orbital robotics; Position control; Service robots; Servomechanisms; Servomotors; Velocity control;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239278
