• An algorithmic process for the...

Treffer: An algorithmic process for the computation of recursive manipulator 'D' matrices.

Title:
An algorithmic process for the computation of recursive manipulator 'D' matrices.
Authors:
Kasu, Indu Reddy.
Contributors:
Sengoda Ganesan., Includes supplementary digital materials.
Publisher Information:
Northern Illinois University.Mechanical Engineering.
Publication Year:
2009
Collection:
Northern Illinois University (NIU): Huskie Commons Repository
Subject Terms:
Engineering, Mechanical, Motion control devices Automatic control Data processing
Document Type:
other/unknown material
Language:
unknown
ISBN:
978-1-109-18466-2
1-109-18466-2
Relation:
Masters Abstracts International, Volume: 47-06, page: 3755.; http://commons.lib.niu.edu/handle/10843/12193; http://hdl.handle.net/10843/12193
Availability:
http://commons.lib.niu.edu/handle/10843/12193
http://hdl.handle.net/10843/12193
Accession Number:
edsbas.160DA309
Database:
BASE

Weitere Informationen

Sorry, the full text of this article is not available in Huskie Commons. Please click on the alternative location to access it. ; 72 p. ; The thesis objective is to establish an algorithmic process for the computation of recursive manipulator 'D' matrices for motion control. This process is involved with the "on-line" estimation of torque values. Since most of the industrial applications are in slow-speed environment, coriolis and centripetal components are ignored in estimating D' values. This process compromises accuracy and compliance.All torque components are considered in high speed applications with a view to have high accuracy in the estimation of 'D' matrices. Sensitivity analysis is performed to observe the speed factor in the estimation of torques.