Development of a high precision mounting robot system with fine motion mechanism (3rd report) -Positioning experiments of SCARA robot with fine mechanism

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

Volumn 67, Issue 7, 2001, Pages 1101-1107

  Omari, Abdelhafid ^a   Ming, Aiguo ^a   Limam, Ghaylen ^a   Kanamori, Chisato ^a   Kajitani, Makoto ^a   Nakamura, Shuji ^b  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^b Japan Radio Company   (Japan)

Author keywords

Coarse fine manipulator; CP positioning; PTP positioning; SCARA robot; Vibration compensation

Indexed keywords

EID: 0038130365     PISSN: 09120289     EISSN: None     Source Type: Journal    
DOI: 10.2493/jjspe.67.1101     Document Type: Article

References (6)

1. S.Masuda, A.Ming, A.Omari, M.Kajitani, and C.Kanamori: Development of high precision mounting robot with fine motion mechanism -Development of two-Axes fine motion mechanism-, JSPE, 66, 1, (2000), 117.
2. A.Sharon, N.Hogan, and D.E.Hardt: The Macro/Micro Manipulator: An Improved Architecture for Robot Control, Robotics and Computer-Integrated Manufacturing, 10, 3, (1993), 209.
3. For example, A.Hodac and R.Siegwart: End-point Control of a Fast and Precise Macro/Micro-Manipulator, The Fourth Int. Conf. on Motion and Vibration Control, MOVIC'98, Zurich, Switzerland, (1998), 883.
4. D.W.Cannon, D.P.Magee, W.J.Book and J.Y.Lew: Experimental Study on Macro/Micro-Manipulator Vibration Control, Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, Minnesota, (1996), 2549.
5. J.Y.Lew, D.J.Trudowski, M.S.Evans and D.W.Bennett: Micro-Manipulator Motion Control to Suppress Macro-Manipulator Structural Vibration, Proc. IEEE Int. Conf. Robotics and Automation, Nagoya, Japan, (1995), 3116.
6. A.Omari, A.Ming, S.Nakamura, C.Kanamori and M.Kajitani: Development of high precision mounting robot with fine motion mechanism (2nd report)-Control of the fine mechanism considering dynamic response and disturbance from coarse mechanism-, JSPE, 66, 10, (2000), 1583.