Modelling an industrial manipulator: a case study

Article

Miro, J. and White, A.S. 2002. Modelling an industrial manipulator: a case study. Simulation modelling practice and theory. 9 (6), pp. 293-319. https://doi.org/10.1016/S0928-4869(01)00046-5
TypeArticle
TitleModelling an industrial manipulator: a case study
AuthorsMiro, J. and White, A.S.
Abstract

Practical modelling and validation of an open-chain industrial manipulator is presented in this paper. A model was obtained to enable an optimal path-planning controller to be designed. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. Agreement with model predictions to within 86% for the smallest link and better than 96% for the major joints is achieved. This is part of a series illustrating the effectiveness of simple validation techniques on increasingly complex problems to enable a process of validation to be established. Others have since used this approach.

PublisherElsevier Science
JournalSimulation modelling practice and theory
ISSN1569-190X
Publication dates
Print15 May 2002
Publication process dates
Deposited15 Oct 2008
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1016/S0928-4869(01)00046-5
LanguageEnglish
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