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Real-time solving of dynamic problem in industrial robots

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Real-time solving of dynamic problem in industrial robots

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dc.contributor.author Rosillo, Nuria es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Benimeli, Francesc es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Valero Chuliá, Francisco José
dc.date.accessioned 2014-03-10T15:16:00Z
dc.date.issued 2011
dc.identifier.issn 0143-991X
dc.identifier.uri http://hdl.handle.net/10251/36356
dc.description.abstract Purpose ¿ The purpose of this paper is to present the development and validation of a methodology which allows modeling and solving the inverse and direct dynamic problem in real time in robot manipulators. Design/methodology/approach ¿ The robot dynamic equation is based on the Gibbs-Appell equation of motion, yielding a well-structured set of equations that can be computed in real time. This paper deals with the implementation and calculation of the inverse and direct dynamic problem in robots, with an application to the real-time control of a PUMA 560 industrial robot provided with an open control architecture based on an industrial personal computer. Findings ¿ The experimental results show the validity of the dynamic model and that the proposed resolution method for the dynamic problem in real time is suitable for control purposes. Research limitations/implications ¿ The accuracy of the applied friction model determines the accuracy of the identi¿ed overall model and consequently of the control. This is especially obvious in the case of the PUMA 560 robot, in which the presence of friction is remarkable in some of their joints. Hence, future work should focus on identifying a more precise friction model. The robot model could also be extended by incorporating rotor dynamics and could be applied for different robot con¿gurations as parallel robots. Originality/value ¿ Gibbs-Appell equations are used in order to develop the robotic manipulator dynamic model, instead of more usual dynamics formulations, due to several advantages that these exhibit. The obtained non-physical identi¿ed parameters are adapted in order to enable their use in a control algorithm es_ES
dc.format.extent 11 es_ES
dc.language Inglés es_ES
dc.publisher Emerald es_ES
dc.relation.ispartof Industrial Robot: An International Journal es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Control systems es_ES
dc.subject Modelling es_ES
dc.subject Programming and algorithm theory es_ES
dc.subject Robotics es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.title Real-time solving of dynamic problem in industrial robots es_ES
dc.type Artículo es_ES
dc.embargo.lift 10000-01-01
dc.embargo.terms forever es_ES
dc.identifier.doi 10.1108/01439911111106336
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation Rosillo, N.; Valera Fernández, Á.; Benimeli, F.; Mata Amela, V.; Valero Chuliá, FJ. (2011). Real-time solving of dynamic problem in industrial robots. Industrial Robot: An International Journal. 38(2):119-129. doi:10.1108/01439911111106336 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1108/01439911111106336 es_ES
dc.description.upvformatpinicio 119 es_ES
dc.description.upvformatpfin 129 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 38 es_ES
dc.description.issue 2 es_ES
dc.relation.senia 222011


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