Study on 6-DOF puma robot based on theory of virtual compound joint

2017 ◽  
Author(s):  
Jianguo Luo ◽  
Zehao Bu ◽  
Jianyou Han
Keyword(s):  
Puma Robot

Seven-Position Synthesis of a Spatial Eight-Bar Linkage by Constraining a TRS Serial Chain

2009 ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Degree Of Freedom ◽  
Upper Arm ◽  
End Effector ◽  
Serial Chain ◽  
Position Synthesis ◽  
Two Degree Of Freedom ◽  
Puma Robot

In this paper, we use seven-position synthesis to add four TS constraints to a TRS serial chain robot and obtain a two degree-of-freedom spatial eight-bar linkage. The TRS chain is an elbow manipulator, similar to a PUMA robot. We synthesize a TS dyad to connect the base of the robot to its forearm, and then we synthesize three TS dyads that connect the upper arm of the robot to its end-effector. The result is a two degree-of-freedom spatial eight-bar linkage that moves through seven prescribed positions. It consists of a TRST loop supporting a 3TS-RS platform, which we denote as a TS-TRS-3TS spatial linkage. We formulate and solve the design equations for the TS dyads, and analyze the resulting eight-bar linkage. An example demonstrates our results.

scholarly journals A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

2015 ◽  
Vol 66 (5) ◽  
pp. 270-276 ◽  
Author(s):  
Fouad Haouari ◽  
Bali Nourdine ◽  
Mohamed Segir Boucherit ◽  
Mohamed Tadjine
Keyword(s):  
Robotic Manipulators ◽  
Control Law ◽  
Control Procedure ◽  
Parametric Uncertainties ◽  
The Novel ◽  
External Disturbances ◽  
Diagram Method ◽  
Coefficient Diagram Method ◽  
Backstepping Controller ◽  
Puma Robot

AbstractA new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.

Implementation of a new PC based controller for a PUMA robot

2007 ◽  
Vol 8 (12) ◽  
pp. 1962-1970 ◽  
Author(s):  
M. Farooq ◽  
Dao-bo Wang
Keyword(s):  
Puma Robot
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