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Dynamic and vibration modeling of a cartesian robot

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3 Author(s)
Benjamin, M. ; Massachusetts Institute of Technology ; Garcia-Reynoso, A. ; Seering, W.P.

Quality of the dynamic response of a robotic manipulator is dependent upon a variety of factors. In this paper, we will discuss the effects on dynamic performance of robot system design and of structural resonant characteristics. A model of the actuator and controller system for a cartesian robot will be presented and its simulated performmance evaluated. Comparison will be made between performance of the model and that of the actual robot system. A model for system resonant characteristics will then be developed and predictions compared with experimental data.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985