Simulation of joint position response of 60 kg payload 4-Axes SCARA configuration manipulator taking dynamical effects into consideration


The method of conventional control of a manipulator, without considering varying effects of robot dynamics, results in degraded response with unnecessary vibrations thus limiting the precision and speed of the end effector. As the column joint is subjected to worst dynamic conditions when all the axes are in motion, simulation of position response of column… (More)


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