Guide for the control of an industrial manipulator
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2099.1/25019
Tutor / directorKiyoshi, Ohishi
Realitzat a/ambNagaoka Gijutsu Kagaku Daigaku
Tipus de documentProjecte/Treball Final de Carrera
Data2013
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The aim of this work is to present a practical guide to implement a controller for an industrial manipulator.
The contents here presented are especially dedicated to a beginner in robotics. The necessary equations
and methodologies are presented, although sometimes the explicit derivations are omitted, as this could
lead to a loss of interest. The reader is encouraged to work in his or her specific control problem while
reading this work. Of course, whenever the urge of knowing the steps leading from one expression to
another appears, the source is available so that the person concerned may find what is looking for.
Along with the theory, during the course of the explanations a controller for a real manipulator is
designed. After every step, the results of applying the presented equations to the example are shown.
This work ends with the numerical simulation of the aforesaid manipulator, including the recording
of the movements of a 3D model of the robot. Even when no experimental results are presented, by the
use of the 3D model it is possible to have an insight on how the robot would react with the designed
controller.
Also, some other control strategies different from the main one are introduced. Furthermore, the
reader will find in the bibliography all the necessary to keep learning long after finished reading these
pages.
MatèriesManipulators (Mecanism) -- Computer simulation, Manipulators (Mecanism) -- Automatic control, Manipuladors (Mecanismes) -- Simulació per ordinador, Manipuladors (Mecanismes) -- Control automàtic
ProvinençaAquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web
TitulacióENGINYERIA INDUSTRIAL (Pla 1994)
Fitxers | Descripció | Mida | Format | Visualitza |
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memoria.pdf | Report | 16,23Mb | Visualitza/Obre |