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

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Affiliation
  1. National Research Council of Canada. NRC Institute for Research in Construction
FormatText, Article
ConferenceIEEE International Conference on Mechatronics & Automation, July 29, 2005, Niagara Falls, ON, Canada
Subjectreconfigurable robot; fuzzy modeling; neural network; varying payload
Abstract
In 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
In
  • Proceedings of the IEEE International Conference on Mechatronics & Automation (1 July 2005): 144–147.
LanguageEnglish
Peer reviewedYes
NRC numberNRCC 48150
NRC-IRC-17382
NPARC number20377953
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Record identifier4168e513-1d6c-4240-8a51-190562450a95
Record created2012-07-24
Record modified2020-04-07
Date modified: