Universiti Teknologi Malaysia Institutional Repository

Integrated model of industrial robot for control applications

Osman, Johari Halim Shah (1992) Integrated model of industrial robot for control applications. Jurnal Teknologi, 19 . pp. 27-41. ISSN 2180-3722

[img] PDF - Published Version

Official URL: http://dx.doi.org/10.11113/jt.v19.1055


This paper deals with the development of an intergrated mathematical model of a robot manipulator. The model of the system comprises the mechanical part of the robot as well as the actuators and the gear trains. Two different approaches of deriving the integrated model are presented which results in two different forms of the integrated dynamic model of the robot manipulator in state space description. Both types of the integrated model are highly nonlinear, time varying, and represent a more realistic model of the robotic system. The integrated model and the approach are useful and suitable for dynamic analysis and control synthesis purposes, and will provide a more efficient approach to the real situation.

Item Type:Article
Uncontrolled Keywords:integrated model, robot manipulator
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:1244
Deposited By: Halimah Baki
Deposited On:29 Apr 2013 03:05
Last Modified:01 Nov 2017 04:17

Repository Staff Only: item control page