Web-based command shaping of cobra 600 robot with a swinging load

Document Type

Conference Proceeding

Publication Date

12-1-2004

Abstract

This work focuses on the real-time control of an Adept Cobra 600 4-axis SCARA robot through the Internet. In particular, command shaping is applied to move a cable suspended load at the end point with the objective of minimizing load swing. The first part of this paper discusses inverse kinematics, pendulum dynamics calculations, and the corresponding shaping control algorithm. Standardized Internet interface via the DataSocket software in LabVIEW is then addressed in the second part.

Identifier

13944280253 (Scopus)

ISBN

[0780385993, 9780780385993]

Publication Title

Proceedings of the IEEE International Conference on Mechatronics 2004 Icm 04

First Page

286

Last Page

291

This document is currently not available here.

Share

COinS