化学侵蚀环境下机械臂的动力学分析与控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI:10.1109/ICMECH.2013.6518548

M. Goubej, M. Svejda

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引用次数: 3

摘要

本文研究了新开发的具有特殊串并联结构的工业机器人机械手，该机械手是为在化学腐蚀性环境下工作而设计的。对机械手进行动力学分析，综合控制律。给出了静态模型推导的一般方法。

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Dynamic analysis and control of robotic manipulator for chemically aggressive environments

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.

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2013 IEEE International Conference on Mechatronics (ICM)

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