Naslov
Software Package for Trajectory Planning, Modelling and Control of Articulated Robot Arm

Autori
Laci, Vesna ; Kovačić, Zdenko ; Crnošija, Petar

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 39th International Annual Conference KoREMA / - Zagreb : Hrvatsko društvo za komunikacije, računarstvo, elektroniku, mjerenja I automatiku (KoREMA), 1994, 440-443

ISBN
9536037025

Skup
39th International Annual Conference KoREMA '94

Mjesto i datum
Zagreb, Hrvatska, 25.04.1994. - 27.04.1994

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Domaća recenzija

Ključne riječi
software package, education, robotics, robot control

Sažetak
The paper presents a software package developed for educational purposes in the field of robot control. The programm contains trajectory planning, dynamic modelling and control of a three-axis planar articulated robot and an educational five-axis articulated robotic manipulator Rhino XR-3. The programm 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
Engleski

Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

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