원문정보
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초록
영어
This paper describes the simulation of arm movements of a stepper motor controlled pick-and-place robot using the mathematical model of a stepper motor. The model includes: a) a model of the stepper model driver board, b) a model of the hybrid stepper motor and load combination, and c) the interconnection of the two models which is used to simulate the motions of the base, shoulder, elbow, and wrist (pitch) motions of the pick-and-place robot. The model is simulated using Simulink and the results of angular displacement from the simulation and actual measurements show good uniformity.
목차
Abstract
1. Introduction
2. System Description
2.1. Unipolar Stepper Motor Drive Board
2.2. HSM and Load Combination
3. Overall Block Diagram
4. Model Simulation and Validation
4.1. Model Simulation
4.2. Model Validation
5. Discussion
6. Conclusion
Acknowledgements
References
1. Introduction
2. System Description
2.1. Unipolar Stepper Motor Drive Board
2.2. HSM and Load Combination
3. Overall Block Diagram
4. Model Simulation and Validation
4.1. Model Simulation
4.2. Model Validation
5. Discussion
6. Conclusion
Acknowledgements
References
저자정보
참고문헌
자료제공 : 네이버학술정보