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Experimental tests on a SCARA robot to evaluate the fitness and the limits of a model

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2 Author(s)

Discusses the degree of fitness of a dynamic model of a SCARA robot. The model takes into account the elasticity, the clearance and the irregularity of the speed reducers. The discussion compares actual data, collected during experimental tests on a commercial robot, with results obtained via computer simulation. Problems related with the parameters determination and instability of the controller are highlighted.<>

Published in:

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Date of Conference:

19-22 June 1991

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