MODELLING AND CONTROL OF LARGE ROBOTS FOR TELE-OPERATION SYSTEMS
A digital computer model has been made, using the IBM CSMP-III code, for dynamic studies of a large robot arm. Results have been compared with measurements on a real arm with 4 vertical axes designed to carry loads up to 1 tonne in the equatorial plane inside the toroidal vacuum vessel of the JET Tokamak. This is the latest and largest of the Tokamak class of machines, which confine plasma in magnetic fields generated by currents in the plasma with the intention of producing fusion of hydrogen nuclei into helium. Computer and experimental results agreed well enough to validate the model and its use can be recommended on similar arms operating in the horizontal plane.
Bibliographic Reference: WRITE TO THE PUBLICATIONS OFFICER, JET JOINT UNDERTAKING, ABINGDON, OXON, OX14 3EA (UK), MENTIONING REPORT JET-P(86)02, 1986
Record Number: 1989124117100 / Last updated on: 1987-01-01
Available languages: en