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1. 1. Design of Optimal Control Processes for Closed-Loop Chain SCARA-Like Robots

   Författare :Mathias R Lidberg; Chalmers tekniska högskola; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; unpowered actuator.; SCARA-robot; closed-loop chain; manipulator;

   Sammanfattning : The design of optimal control processes for closed-loop chain SCARA-like robots is the subject of this thesis. In comparison with the well-known SCARA robot, the proposed new structure is characterized by the incorporation of an additional powered actuator, several unpoweredactuators and an additional link that gives a closed-loop chain robot. LÄS MER