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Improvement of dynamic capabilities of heavy robots

Published online by Cambridge University Press:  09 March 2009

V. Potkonjak  and
A. Krstulović
V. Potkonjak
Affiliation:
Electrical Engineering Faculty, Bulevar Revolucije 73, 11000 Belgrade, Yugoslavia.
A. Krstulović
Affiliation:
R & D Institute “Brodosplit”, Put udarnika 19, 58000 Split, Yugoslavia.
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Summary

The application of heavy robots is usually restricted to those problems where large loads are carried and high speed is not required. This paper proposes a method for the improvement of robot dynamic capabilities thus enabling a heavy robot to perform the fast manipulation. The approach follows the idea of “distributed positioning” and introduces redundancy. The concept adopted is proved on two different configurations: an elbow-scheme manipulation robot and a gantry welding robot.

Keywords

Heavy RobotFast ManipulationDistributed PositioningDynamic Capability
Type
Article
Information
Robotica , Volume 8 , Issue 3 , July 1990 , pp. 217 - 222
Copyright
Copyright © Cambridge University Press 1990

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References

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