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Simulation Model of a 2 Degrees of Freedom Industrial Manipulator
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2011 (English)Report (Other academic)
Abstract [en]

A simulation model for a two degrees of freedom industrial manipulator where an accelerometer is attached to the robot arm is presented. An overview of the kinematic and dynamic models as well as a thorough description of the accelerometer model are given. The simulation model can be run with different types of properties, \eg model errors and disturbances. Different types of suggested simulation setups are also presented in the paper.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. , 9 p.
LiTH-ISY-R, ISSN 1400-3902 ; 3020
Keyword [en]
Industrial manipulator, Kinematic models, Dynamic models, Accelerometer
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-88970ISRN: LiTH-ISY-R-3020OAI: diva2:606574
Vinnova Excellence Center LINK-SIC
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2014-06-18Bibliographically approved

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Axelsson, Patrik
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Automatic ControlThe Institute of Technology
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