Michael Walker, Liang-Boon Wee
Abstract
This paper presents a Cartesian coordinate robot controller for use when the mass properties of the load are unknown. The controller is demonstrated using a new simulation algorithm which is based on Hamilton's form of the equations of motion.
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This paper presents a Cartesian coordinate robot controller for use when the mass properties of the load are unknown. The controller is demonstrated using a new simulation algorithm which is based on Hamilton's form of the equations of motion.
Key concepts: Cartesian coordinate system, Cartesian coordinate robot, Control theory (sociology), Controller (irrigation), Robot, Computer science, Robot kinematics, Motion control