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
fDate :
29 July-1 Aug. 2005
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;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626537
