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• W2212457405 abstract "This paper presents wireless communicated real-time implementation of computed-torque control for a two-link SCARA robot and experimental works for two-dimensional input shaping control of a spherical pendulum. For comparison purpose, computed-torque control and individual joint control with proportional-plus-derivative logic are implemented for the tracking control of the SCARA robot. Moreover, wireless motion command transfer from a host PC (notebook PC) to the robot controller is implemented for user convenience. Second part of the paper presents experimental works for two-dimensional input shaping and tracking control of a spherical pendulum mounted at the end-effector of the SCARA robot. The logic of two dimensional input shaping is demonstrated through simulation and experimental works." @default.
• W2212457405 created "2016-06-24" @default.
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• W2212457405 date "2015-10-01" @default.
• W2212457405 modified "2023-09-27" @default.
• W2212457405 title "Wireless-communicated computed-torque control of a SCARA robot and two-dimensional input shaping for a spherical pendulum" @default.
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• W2212457405 doi "https://doi.org/10.1109/urai.2015.7358928" @default.
• W2212457405 hasPublicationYear "2015" @default.
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