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Performance Measures of a Robotic Micropositioner



Jonathan W. Lee, James S. Albus, Nicholas G. Dagalakis, T M. Tsai


This work describes a computer simulation of the dynamics and control of a robotic micropositioner. The robotic micropositioner is a parallel link manipulator which has six actuators, each controlled independently by a hydraulic system. The dynamic equations of the micropositioner are derived. The control algorithm for path tracing is formulated and tested. In this work the performance of the micropositioner is investigated as function of damping, speed, payload, and location of target.
2nd International Symposium on Robotics and Manufacturing ASME


Lee, J. , Albus, J. , Dagalakis, N. and Tsai, T. (1988), Performance Measures of a Robotic Micropositioner, 2nd International Symposium on Robotics and Manufacturing ASME, [online], (Accessed April 14, 2024)
Created June 1, 1988, Updated June 2, 2021