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Abstract
The paper presents a design of six axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows to track the current position of each axis and use this to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows to tune parameters of the controllers for both control loops: inner, related to the speed of the robot and outer, related to it’s position.
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- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
-
Journal of Automation, Mobile Robotics and Intelligent Systems - JAMRIS
no. 16,
pages 46 - 52,
ISSN: 1897-8649 - Language:
- English
- Publication year:
- 2022
- Bibliographic description:
- Pająk M., Racław M., Piotrowski R.: Prototype and design of six axis robotic manipulator// Journal of Automation, Mobile Robotics and Intelligent Systems - JAMRIS -Vol. 16,iss. 1 (2022), s.46-52
- Sources of funding:
-
- COST_FREE
- Verified by:
- Gdańsk University of Technology
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