Development of A Jacobean Model for A 4-Axes Indigenously Developed SCARA System
This paper deals with the development of a Jacobean model for a 4-axes indigenously developed scara robot arm in the laboratory. This model is used to study the relation between the velocities and the forces in the robot while it is doing the pick and place operation.
[1] Robert, J.S., "Fundamentals of Robotics : Analysis and Control",
PHI, New Delhi., 1992.
[2] Klafter, Thomas and Negin, "Robotic Engineering", PHI, New Delhi,
1990.
[3] Fu, Gonzalez and Lee, "Robotics : Control, Sensing, Vision and
Intelligence", McGraw Hill, Singapore, 1995.
[4] Ranky, P. G., C. Y. Ho, "Robot Modeling, Control & Applications",
IFS Publishers, Springer, UK., 1998.
[5] T.C.Manjunath, "Fundamentals of Robotics", Nandu Publishers, 5th
Revised Edition, Mumbai., 2005.
[6] T.C.Manjunath, "Fast Track To Robotics", Nandu Publishers, 3nd
Edition, Mumbai, 2005.
[7] Ranky, P. G., C. Y. Ho, "Robot Modeling, Control & Applications",
IFS Publishers, Springer, UK, 2005.
[8] Groover, Weiss, Nagel and Odrey, Industrial Robotics, McGraw Hill,
Singapore, 2000.
[9] William Burns and Janet Evans, "Practical Robotics - Systems,
Interfacing, Applications", Reston Publishing Co., 2000.
[10] Phillip Coiffette, "Robotics Series, Volume I to VIII, Kogan Page,
London, UK, 1995.
[11] Luh, C.S.G., M.W. Walker, and R.P.C. Paul, "On-line computational
scheme for mechanical manipulators", Journal of Dynamic Systems,
Measurement & Control, Vol. 102, pp. 69-76, 1998.
[12] Mohsen Shahinpoor, "A Robotic Engineering Text Book", Harper
and Row Publishers, UK.
[13] Janakiraman, "Robotics and Image Processing", Tata McGraw
Hill.
[14] Richard A Paul, "Robotic Manipulators", MIT press, Cambridge.
[15] Fairhunt, "Computer Vision for Robotic Systems", New Delhi.
[16] Yoram Koren, "Robotics for Engineers", McGraw Hill.
[17] Bernard Hodges, "Industrial Robotics", Jaico Publishing House,
Mumbai, India.
[18] Tsuneo Yoshikawa, "Foundations of Robotics : Analysis and
Control", PHI.
[19] Dr. Jain and Dr. Aggarwal, "Robotics : Principles & Practice",
Khanna Publishers, Delhi.
[20] Lorenzo and Siciliano, "Modeling and Control of Robotic
Manipulators", McGraw Hill.
[21] Dr. Amitabha Bhattacharya, "Mechanotronics of Robotics
Systems".
[22] S.R. Deb, "Industrial Robotics", Tata McGraw Hill, New Delhi,
India.
[23] Edward Kafrissen and Mark Stephans, "Industrial Robots and
Robotics", Prentice Hall Inc., Virginia.
[24] Rex Miller, "Fundamentals of Industrial Robots and Robotics,
PWS Kent Pub Co., Boston.
[25] Doughlas R Malcom Jr., "Robotics ... An introduction", Breton
Publishing Co., Boston.
[26] Wesseley E Synder, "Industrial Robots : Computer Interfacing and
Control", Prentice Hall.
[27] Carl D Crane and Joseph Duffy, "Kinematic Analysis of Robot
Manipulators", Cambridge Press, UK.
[28] C Y Ho and Jen Sriwattamathamma, "Robotic Kinematics ...
Symbolic Automatic and Numeric Synthesis", Alex Publishing
Corp, New Jersey.
[29] Francis N Nagy, "Engineering Foundations of Robotics", Andreas
Siegler, Prentice Hall.
[30] William Burns and Janet Evans, "Practical Robotics - Systems,
Interfacing, Applications", Reston Publishing Co.
[31] Robert H Hoekstra, "Robotics and Automated Systems".
[32] Lee C S G, "Robotics , Kinematics and Dynamics".
[33] Gonzalez and Woods, "Digital Image Processing", Addison
Wesseley.
[34] Anil K Jain, "Digital Image Processing", PHI.
[35] Joseph Engelberger, "Robotics for Practice and for Engineers",
PHI, USA.
[36] Yoshikawa T., "Analysis and Control of Robot Manipulators with
Redundancy", Proc. First Int. Symp. on Robotics Research,
Cambridge, MIT Press, pp. 735-748, 1984.
[37] Whitney DE., "The Mathematics of Coordinated Control of
Prosthetic Arms and Manipulators", Trans. ASM J. Dynamic
Systems, Measurements and Control, Vol. 122, pp. 303-309, 1972.
[38] Whitney DE., "Resolved Motion Rate Control of Manipulators
and Human Prostheses", IEEE Trans. Syst. Man, Cybernetics, Vol.
MMS-10, No. 2, pp. 47-53, 1969.
[39] Lovass Nagy V, R.J. Schilling, "Control of Kinematically
Redundant Robots Using {1}-inverses", IEEE Trans. Syst. Man,
Cybernetics, Vol. SMC-17, No. 4, pp. 644-649, 1987.
[40] Lovass Nagy V., R J Miller and D L Powers, "An Introduction to the
Application of the Simplest Matrix-Generalized Inverse in
Systems Science", IEEE Trans. Circuits and Systems, Vol. CAS-25,
No. 9, pp. 776, 1978.
[1] Robert, J.S., "Fundamentals of Robotics : Analysis and Control",
PHI, New Delhi., 1992.
[2] Klafter, Thomas and Negin, "Robotic Engineering", PHI, New Delhi,
1990.
[3] Fu, Gonzalez and Lee, "Robotics : Control, Sensing, Vision and
Intelligence", McGraw Hill, Singapore, 1995.
[4] Ranky, P. G., C. Y. Ho, "Robot Modeling, Control & Applications",
IFS Publishers, Springer, UK., 1998.
[5] T.C.Manjunath, "Fundamentals of Robotics", Nandu Publishers, 5th
Revised Edition, Mumbai., 2005.
[6] T.C.Manjunath, "Fast Track To Robotics", Nandu Publishers, 3nd
Edition, Mumbai, 2005.
[7] Ranky, P. G., C. Y. Ho, "Robot Modeling, Control & Applications",
IFS Publishers, Springer, UK, 2005.
[8] Groover, Weiss, Nagel and Odrey, Industrial Robotics, McGraw Hill,
Singapore, 2000.
[9] William Burns and Janet Evans, "Practical Robotics - Systems,
Interfacing, Applications", Reston Publishing Co., 2000.
[10] Phillip Coiffette, "Robotics Series, Volume I to VIII, Kogan Page,
London, UK, 1995.
[11] Luh, C.S.G., M.W. Walker, and R.P.C. Paul, "On-line computational
scheme for mechanical manipulators", Journal of Dynamic Systems,
Measurement & Control, Vol. 102, pp. 69-76, 1998.
[12] Mohsen Shahinpoor, "A Robotic Engineering Text Book", Harper
and Row Publishers, UK.
[13] Janakiraman, "Robotics and Image Processing", Tata McGraw
Hill.
[14] Richard A Paul, "Robotic Manipulators", MIT press, Cambridge.
[15] Fairhunt, "Computer Vision for Robotic Systems", New Delhi.
[16] Yoram Koren, "Robotics for Engineers", McGraw Hill.
[17] Bernard Hodges, "Industrial Robotics", Jaico Publishing House,
Mumbai, India.
[18] Tsuneo Yoshikawa, "Foundations of Robotics : Analysis and
Control", PHI.
[19] Dr. Jain and Dr. Aggarwal, "Robotics : Principles & Practice",
Khanna Publishers, Delhi.
[20] Lorenzo and Siciliano, "Modeling and Control of Robotic
Manipulators", McGraw Hill.
[21] Dr. Amitabha Bhattacharya, "Mechanotronics of Robotics
Systems".
[22] S.R. Deb, "Industrial Robotics", Tata McGraw Hill, New Delhi,
India.
[23] Edward Kafrissen and Mark Stephans, "Industrial Robots and
Robotics", Prentice Hall Inc., Virginia.
[24] Rex Miller, "Fundamentals of Industrial Robots and Robotics,
PWS Kent Pub Co., Boston.
[25] Doughlas R Malcom Jr., "Robotics ... An introduction", Breton
Publishing Co., Boston.
[26] Wesseley E Synder, "Industrial Robots : Computer Interfacing and
Control", Prentice Hall.
[27] Carl D Crane and Joseph Duffy, "Kinematic Analysis of Robot
Manipulators", Cambridge Press, UK.
[28] C Y Ho and Jen Sriwattamathamma, "Robotic Kinematics ...
Symbolic Automatic and Numeric Synthesis", Alex Publishing
Corp, New Jersey.
[29] Francis N Nagy, "Engineering Foundations of Robotics", Andreas
Siegler, Prentice Hall.
[30] William Burns and Janet Evans, "Practical Robotics - Systems,
Interfacing, Applications", Reston Publishing Co.
[31] Robert H Hoekstra, "Robotics and Automated Systems".
[32] Lee C S G, "Robotics , Kinematics and Dynamics".
[33] Gonzalez and Woods, "Digital Image Processing", Addison
Wesseley.
[34] Anil K Jain, "Digital Image Processing", PHI.
[35] Joseph Engelberger, "Robotics for Practice and for Engineers",
PHI, USA.
[36] Yoshikawa T., "Analysis and Control of Robot Manipulators with
Redundancy", Proc. First Int. Symp. on Robotics Research,
Cambridge, MIT Press, pp. 735-748, 1984.
[37] Whitney DE., "The Mathematics of Coordinated Control of
Prosthetic Arms and Manipulators", Trans. ASM J. Dynamic
Systems, Measurements and Control, Vol. 122, pp. 303-309, 1972.
[38] Whitney DE., "Resolved Motion Rate Control of Manipulators
and Human Prostheses", IEEE Trans. Syst. Man, Cybernetics, Vol.
MMS-10, No. 2, pp. 47-53, 1969.
[39] Lovass Nagy V, R.J. Schilling, "Control of Kinematically
Redundant Robots Using {1}-inverses", IEEE Trans. Syst. Man,
Cybernetics, Vol. SMC-17, No. 4, pp. 644-649, 1987.
[40] Lovass Nagy V., R J Miller and D L Powers, "An Introduction to the
Application of the Simplest Matrix-Generalized Inverse in
Systems Science", IEEE Trans. Circuits and Systems, Vol. CAS-25,
No. 9, pp. 776, 1978.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:56530", author = "T.C.Manjunath and C. Ardil", title = "Development of A Jacobean Model for A 4-Axes Indigenously Developed SCARA System ", abstract = "This paper deals with the development of a Jacobean model for a 4-axes indigenously developed scara robot arm in the laboratory. This model is used to study the relation between the velocities and the forces in the robot while it is doing the pick and place operation.
", keywords = "SCARA, Jacobean, Tool Configuration Vector,
Computer Control , Visual Basic , Interfacing , Drivers,", volume = "2", number = "10", pages = "1138-7", }
