Year-end Sale % OFF 
Abstract
A computer oriented method for deriving sensitivity functions of dynamic parameters of the mechanism and actuators for an open chain manipulator system is presented. The manipulator system is observed under two modes: the nominal mode (feedforward), where the manipulator is driven by nominal input to the actuators, and the deviation mode, where the manipulator motion is controlled by local feedback loops. These sensitivity functions can be used for evaluating the quality of the chosen robot parameters with respect to sensitivity of their variation, and in evaluating the effect of local feedback loops in the case of parameter variation. The algorithms are illustrated by an example of a six degree-of-freedom robotic manipulator.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
