Subject Area
Computer and Control Systems Engineering
Article Type
Original Study
Abstract
Robotic systems represent one of the most advanced industrial applications. Such robotic systems have a severe oscillatory behavior, thus the conventional control techniques are not suitable to deal with it. In the present paper, the dynamic dynamic behavior of robotic systems is studied and a dynamic model for such systems is obtained. A suitable trajectory for each link is pre-determined. The technique introduced proposes a segmented trajectory rather than a continuous one. A comparative study between the behaviour of the system with the proposed technique and that proposed in [7] is introduced. The above mentioned algorithm assumed that the chosen path is continous and this can be used in some tasks, required to be carried-out by the robot. But in other tasks, it is sometimes required that the robot must move a short distance from a point to another neighbouring point i.e. , the path is not continuous but, it is a segmented path. Such pathes are required in different tasks, such pathes are weiding, paint spraying, cxarrying a tray of drink……..etc.
Recommended Citation
Areed, F.
(2021)
"Dynamic Characteristics of Industrial Robots, Using Segmented Trajectories.,"
Mansoura Engineering Journal: Vol. 16
:
Iss.
2
, Article 7.
Available at:
https://doi.org/10.21608/bfemu.2021.187955
