DocumentCode
2188195
Title
Dynamic analysis and control of robotic manipulator for chemically aggressive environments
Author
Goubej, M. ; Svejda, M.
Author_Institution
Dept. of Cybern., Univ. of West Bohemia, Pilsen, Czech Republic
fYear
2013
fDate
Feb. 27 2013-March 1 2013
Firstpage
273
Lastpage
278
Abstract
The paper deals with newly developed industrial robotic manipulator with special serio-parallel architecture which was designed for operation in chemically aggressive environment. Dynamical analysis of the manipulator is performed for the purpose of control law synthesis. General method for derivation of static models is presented.
Keywords
chemical hazards; control system synthesis; hazardous areas; industrial manipulators; manipulator dynamics; manipulator kinematics; chemically aggressive environments; control law synthesis; dynamic analysis; dynamic control; industrial robotic manipulator; parallel manipulator; serial manipulator; serio-parallel architecture; static model derivation; Dynamics; End effectors; Gravity; Joints; Kinematics; Industrial robots; decentralized PID control; force balance; inverse and direct kinematic problem;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics (ICM), 2013 IEEE International Conference on
Conference_Location
Vicenza
Print_ISBN
978-1-4673-1386-5
Electronic_ISBN
978-1-4673-1387-2
Type
conf
DOI
10.1109/ICMECH.2013.6518548
Filename
6518548
Link To Document