Pregled bibliografske jedinice broj: 1024673
A Software Package for Trajectory Planning, Modelling and Control of Articulated Robot Arms
A Software Package for Trajectory Planning, Modelling and Control of Articulated Robot Arms // Zbornik radova 39. međunarodnog godišnjeg skupa KoREMA
Zagreb, 1994. str. 440-443 (predavanje, domaća recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1024673 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A Software Package for Trajectory Planning, Modelling and Control of Articulated Robot Arms
Autori
Laci, Vesna ; Kovačić, Zdenko ; Crnošija, Petar
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Zbornik radova 39. međunarodnog godišnjeg skupa KoREMA
/ - Zagreb, 1994, 440-443
Skup
39. međunarodni godišnji skup KoREMA
Mjesto i datum
Zagreb, Hrvatska, 25.04.1994. - 27.04.1994
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Domaća recenzija
Ključne riječi
trajectory tracking, dynamic modeling, robust control, articulated robot arm
Sažetak
The paper presents a software package developed for educational purposes in the field of robot control. The program contains trajectory planning, dynamic modeling and control of a three-axis planar articulated robot and an educational five-axis articulated robotic manipulator Rhino XR-3. The program involves trajectory planning method which ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. Due to the concept of modular programming, various control techniques such as a PID, robust and fuzzy, were included in the software package.
Izvorni jezik
Hrvatski
Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
