{"title":"工业机械臂建模案例研究","authors":"J.V. Miro , A.S. White","doi":"10.1016/S0928-4869(01)00046-5","DOIUrl":null,"url":null,"abstract":"<div><p>A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. A model was obtained to enable an optimal path-planning controller to be designed. The paper describes how the equations of motion were derived and how the key parameters were obtained. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. The overall motion was found to give an agreement with the model predictions to within 86% for the smallest link and better than 96% for the major joints.</p></div>","PeriodicalId":101162,"journal":{"name":"Simulation Practice and Theory","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2002-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/S0928-4869(01)00046-5","citationCount":"27","resultStr":"{\"title\":\"Modelling an industrial manipulator a case study\",\"authors\":\"J.V. Miro , A.S. White\",\"doi\":\"10.1016/S0928-4869(01)00046-5\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. A model was obtained to enable an optimal path-planning controller to be designed. The paper describes how the equations of motion were derived and how the key parameters were obtained. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. The overall motion was found to give an agreement with the model predictions to within 86% for the smallest link and better than 96% for the major joints.</p></div>\",\"PeriodicalId\":101162,\"journal\":{\"name\":\"Simulation Practice and Theory\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2002-05-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.1016/S0928-4869(01)00046-5\",\"citationCount\":\"27\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Simulation Practice and Theory\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0928486901000465\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Simulation Practice and Theory","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0928486901000465","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. A model was obtained to enable an optimal path-planning controller to be designed. The paper describes how the equations of motion were derived and how the key parameters were obtained. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. The overall motion was found to give an agreement with the model predictions to within 86% for the smallest link and better than 96% for the major joints.
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