文章基本信息

标题：Experimental Study on Position Control Techniques of a 4-DOF Mechanical Arm based on Open-Source Software and Hardware
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作者：Zhen Gao ; Ishwar Singh
期刊名称：International Journal of Computer and Information Technology
印刷版ISSN：2279-0764
出版年度：2015
卷号：4
期号：6
页码：930
出版社：International Journal of Computer and Information Technology
摘要：Robotic arm, which is a popular serial manipulator, has been studied for a couple of decides, especially in the areas of theoretical study including forward kinematics, inverse kinematics, singularity, workspace, various fancy control methods and simulations. In a word, a lot of research activities in academia focused on the robotic mechanism and mathematics study. Because teaching and research co-exist in most universities, current trend makes the university robot education too theoretical. In this situation, experimental study is much more important to boost both the short-term and long-term developments of the real robot technology. There is no obvious drawback of the experimental robot education, namely a lot of purchased robots are not built based on op en source. Many industrial robots have self-carried closed-source software which is developed for end-users rather than developers. While for university robotics education the students are better to be treated as the developers while not end-users. Thus, the authors here propose a concept of Open-Source Robotics to explore theexperimental study for new kinematic control techniques of the 4DOF arm. The proposed idea is applicable for the generic robotic manipulators
关键词：Experimental study; kinematic control techniques; ; mechanical arm;open-source robotics