Abstract
In order to demonstrate the feasibility and evaluate the performance of the identification and control algorithms, we have developed a complete prototype system. This prototype arm signature system has been applied to identify and control seven Westinghouse/Unimation Puma 560 robots.8. The Puma 560 is a six degree of freedom robot with revolute joints. Evaluation of the arm signature-based control showed consistent improvement of accuracy in several standard tasks.
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© 1987 Kluwer Academic Publishers
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Stone, H.W. (1987). Prototype System and Performance Evaluation. In: Kinematic Modeling, Identification, and Control of Robotic Manipulators. The Kluwer International Series in Engineering and Computer Science, vol 29. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-1999-3_6
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DOI: https://doi.org/10.1007/978-1-4613-1999-3_6
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4612-9193-0
Online ISBN: 978-1-4613-1999-3
eBook Packages: Springer Book Archive