Online payload identification, Auto gain tuning and Trajectory following for SCARA robots

碩士 === 國立雲林科技大學 === 機械工程系 === 105 === This research investigates the Scara robot in rapid positioning. The load inertia is uncertain in advance. Using the same servo gains for all payloads causes some problems, like overshoot, positioning errors and lower efficiency. The research goal is to enable t...

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Bibliographic Details
Main Authors: Chao-Min Huang, 黃昭閔
Other Authors: Shang-Teh Wu
Format: Others
Language:zh-TW
Published: 2017
Online Access:http://ndltd.ncl.edu.tw/handle/45shhg