Marcin Racław - Publications - Bridge of Knowledge

Marcin Racław

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industrial manipulators, servostepper motors, cascade control, stateful machine

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Year 2022

Prototype and design of six axis robotic manipulator
Publication
- Journal of Automation, Mobile Robotics and Intelligent Systems - JAMRIS - Year 2022
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...

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