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

Bompos, N; Artemiadis, P; Oikonomopoulos, A; Kyriakopoulos, K

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