Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms

Dan Zhang; Bin Wei

doi:10.1051/matecconf/20167701005

Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms

Research output: Journal article publication › Conference article › Academic research › peer-review

Abstract

When the end-effector of the industrial serial mechanical manipulators grasps different payload masses, the output of joint motion will vary, which decreases end-effector positioning accuracy of the overall system. Based on the model reference adaptive control technique, the payload variation effect can be solved and therefore, to improve the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.

Original language	English
Article number	01005
Journal	MATEC Web of Conferences
Volume	77
DOIs	https://doi.org/10.1051/matecconf/20167701005
Publication status	Published - 3 Oct 2016
Externally published	Yes
Event	3rd International Conference on Mechanics and Mechatronics Research, ICMMR 2016 - Chongqing, China Duration: 15 Jun 2016 → 17 Jun 2016

ASJC Scopus subject areas

General Chemistry
General Materials Science
General Engineering

More information

10.1051/matecconf/20167701005

Cite this

@article{26c9c45ccdba426980422c0bc3f1695a,

title = "Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms",

abstract = "When the end-effector of the industrial serial mechanical manipulators grasps different payload masses, the output of joint motion will vary, which decreases end-effector positioning accuracy of the overall system. Based on the model reference adaptive control technique, the payload variation effect can be solved and therefore, to improve the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.",

author = "Dan Zhang and Bin Wei",

note = "Publisher Copyright: {\textcopyright} The Authors, published by EDP Sciences, 2016.; 3rd International Conference on Mechanics and Mechatronics Research, ICMMR 2016 ; Conference date: 15-06-2016 Through 17-06-2016",

year = "2016",

month = oct,

day = "3",

doi = "10.1051/matecconf/20167701005",

language = "English",

volume = "77",

journal = "MATEC Web of Conferences",

issn = "2261-236X",

publisher = "EDP Sciences",

}

TY - JOUR

T1 - Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms

AU - Zhang, Dan

AU - Wei, Bin

N1 - Publisher Copyright: © The Authors, published by EDP Sciences, 2016.

PY - 2016/10/3

Y1 - 2016/10/3

N2 - When the end-effector of the industrial serial mechanical manipulators grasps different payload masses, the output of joint motion will vary, which decreases end-effector positioning accuracy of the overall system. Based on the model reference adaptive control technique, the payload variation effect can be solved and therefore, to improve the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.

AB - When the end-effector of the industrial serial mechanical manipulators grasps different payload masses, the output of joint motion will vary, which decreases end-effector positioning accuracy of the overall system. Based on the model reference adaptive control technique, the payload variation effect can be solved and therefore, to improve the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.

UR - http://www.scopus.com/inward/record.url?scp=84993999914&partnerID=8YFLogxK

U2 - 10.1051/matecconf/20167701005

DO - 10.1051/matecconf/20167701005

M3 - Conference article

AN - SCOPUS:84993999914

SN - 2261-236X

VL - 77

JO - MATEC Web of Conferences

JF - MATEC Web of Conferences

M1 - 01005

T2 - 3rd International Conference on Mechanics and Mechatronics Research, ICMMR 2016

Y2 - 15 June 2016 through 17 June 2016

ER -

Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms

Abstract

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this