Modelling of the Puma Robot for Control of Grinding Applications

Dai, H.; Srivastava, A. K.; Elbestawi, M.A.; Sinha, Nidul

doi:10.1016/s1474-6670(17)52432-5

Cited by 3 publications

(4 citation statements)

References 2 publications

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“…In many cases where high control performance is required, these simplified models may not be accurate enough to meet the requirements. A linear third-order autoregressive moving average with an exogenous-variable (ARMAX) model describing the dynamics of the PUMA 762 robot has been developed by Dai et al [8]. However, from the adaptive control point of view, a parametric model accurately describing the dynamics of the whole RDG process, including the robot and the grinding process, is still required.…”

Section: Accepted For Publication: 28 October 1991mentioning

confidence: 99%

“…According to [6] and [8], the system delay of the PUMA 762 robot is five control intervals (i.e. 5 x 0.028 s).…”

Section: Model Structure and Order Determinationmentioning

confidence: 99%

“…where n' is a preselected integer larger than n. On the basis of the system identification results obtained by Dai et al [8] for the PUMA robot, n' was arbitrarily selected as 7 in this case. The input signals are properly selected such that the system is persistently excited.…”

Section: Model Structure and Order Determinationmentioning

confidence: 99%

“…Recently, some research on the advancement of the RDG system has been performed [2][3][4][5][6][7][8]. The development and…”

Section: Introductionmentioning

confidence: 99%

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