Results 141 to 150 of about 401 (174)
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Singularity avoidance for SCARA robots
Robotics and Autonomous Systems, 1992Abstract This paper addresses the following optimization problem: for a SCARA robot and a task to be performed at a number of discrete points on a workpiece, find the workpiece position for which the robot will perform the task while remaining as far away as possible from singular configurations.
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1994
In the first part the paper presents the analysis of a SCARA manipulator working area. The second part concerns with the dynamic analysis on the basis of Lagrange equation. The moments in the particular link and the actual torque courses related to the real time and real robot form was calculated.
D. Noe, M. Skubic
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In the first part the paper presents the analysis of a SCARA manipulator working area. The second part concerns with the dynamic analysis on the basis of Lagrange equation. The moments in the particular link and the actual torque courses related to the real time and real robot form was calculated.
D. Noe, M. Skubic
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Fault Diagnosis of a SCARA Robot
2008 15th International Conference on Mechatronics and Machine Vision in Practice, 2008A new approach for fault detection of a robot manipulator was introduced in this paper. Unlike existing methods mounting varies sensors at every joints, the new technique applied only one accelerometer mounted at the tip of the robot. Based on dynamic analysis of the robot, the theoretical acceleration profile of the programmed motion was obtained ...
Wei Tao, Wang Xingsong
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Dynamic Modelling Of A SCARA Robot
SPIE Proceedings, 1987This paper describes a method for modelling industrial robots that considers dynamic approach to manipulation systems motion generation, obtaining the complete dynamic model for the mechanic part of the robot and taking into account the dynamic effect of actuators acting at the joints.
J. Perez Turiel +2 more
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The Control System Design of A SCARA Robot
2014According to the SCARA robot’s control requirements in term of reliability and accuracy, AC servo motors are chose as the end effect and a double-CPU control system is built, which is consist of an industry control computer (IPC) as the host machine and a motion control card as the lower machine. With the Denavit-Hartenberg (D-H) modeling method of the
Nianfeng F. Wang +4 more
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A new concept of the SCARA robot
Robotics and Computer-Integrated Manufacturing, 1990Abstract Based on the SCARA concept, accepted worldwide, this paper considers the possibility of realizing SCARA with a full circle working area. The basis of the approach is a mechanism with two eccentrically positioned rotating discs instead several tools (hands) is also facilitated.
Dragan Milutinović, Veljko Potkonjak
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A high-speed parallel robot for Scara motions
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form.
Krut, Sébastien +3 more
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CONTROL OF A SCARA ROBOT: PSO-PID APPROACH
Control and Intelligent Systems, 2010This paper presents an approach where the Particle swarm optimization (PSO) is employed to get optimum PID controller parameters to control of a SCARA robot. PSO is an evolutionary technique which is originated from swarm intelligence. A practical application of the PSO-PID controller is performed with the system dynamics.
M. Taylan Das, L. Canan Dülger
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An adaptive controller for a direct-drive SCARA robot
IEEE Transactions on Industrial Electronics, 1992A direct adaptive controller for trajectory tracking of high-speed robots such as a direct-drive SCARA robot is presented. In this robot, nonlinear effects due to centrifugal, Coriolis, and inertial forces are more important than friction and gravity forces, unlike most industrial robots.
Louis-A. Dessaint +3 more
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