Study of the effect of external disturbances on the position control of IRIS modular and reconfigurable manipulator

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ConferenceProceedings of the IEEE International Conference on Mechatronics & Automation: 29 July 2005, Niagara Falls, ON.
Pages144147; # of pages: 4
Subjectreconfigurable robot, fuzzy modeling, neural network, varying payload
AbstractIn this paper, we derive a mathematical formulation that relates the end-effector tracking error to the end pointpayload carried by a modular reconfigurable manipulator (IRIS) in two different configurations. The effect ofvarying the end point payload on the independent joint position error is investigated experimentally on the two configurations of the modular and reconfigurable robot.
Publication date
AffiliationNRC Institute for Research in Construction; National Research Council Canada
Peer reviewedYes
NRC number48150
NPARC number20377953
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Record identifier4168e513-1d6c-4240-8a51-190562450a95
Record created2012-07-24
Record modified2016-05-09
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