Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms
1 Department of Mechanical Engineering, York University, Toronto, Ontario, Canada
2 Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada
When the end-effector of the industrial serial mechanical manipulators grasps different payload masses, the output of joint motion will vary, which decreases end-effector positioning accuracy of the overall system. Based on the model reference adaptive control technique, the payload variation effect can be solved and therefore, to improve the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.
© The Authors, published by EDP Sciences, 2016
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