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Modeling, full identification and control of the mitsubishi PA10 robot arm

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dc.contributor.author Bompos, N en
dc.contributor.author Artemiadis, P en
dc.contributor.author Oikonomopoulos, A en
dc.contributor.author Kyriakopoulos, K en
dc.date.accessioned 2014-03-01T02:50:59Z
dc.date.available 2014-03-01T02:50:59Z
dc.date.issued 2007 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/35264
dc.subject Degree of Freedom en
dc.subject Dynamic Model en
dc.subject Inverse Dynamics en
dc.subject Model Identification en
dc.subject Non-linear Model en
dc.subject Parameter Identification en
dc.subject Robot Arm en
dc.subject Trajectory Tracking en
dc.title Modeling, full identification and control of the mitsubishi PA10 robot arm en
heal.type conferenceItem en
heal.identifier.primary 10.1109/AIM.2007.4412421 en
heal.identifier.secondary http://dx.doi.org/10.1109/AIM.2007.4412421 en
heal.publicationDate 2007 en
heal.abstract This paper presents the modeling, identification and control of the 7 degrees of freedom (DoFs) Mitsubishi PA-10 robot arm. The backdrivability, high accuracy positioning capabilities and zero backlash afforded by its harmonic drive transmission, make the PA-10 ideal for precise manipulation tasks. However, the lack of any technical knowledge on the dynamic parameters of its links and the non linear en
heal.journalName IEEE/ASME International Conference on Advanced Intelligent Mechatronics en
dc.identifier.doi 10.1109/AIM.2007.4412421 en


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