| 引用本文: | 周学才,郑时雄,张启先.一种新的机器人手臂控制方法[J].控制理论与应用,1994,11(1):58~63.[点击复制] |
| ZHOU Xuecai,ZHENG Shixiong,ZHANG Qixian.A New Method for the Robot Arm Control[J].Control Theory and Technology,1994,11(1):58~63.[点击复制] |
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| 一种新的机器人手臂控制方法 |
| A New Method for the Robot Arm Control |
| 摘要点击 1063 全文点击 515 投稿时间：1992-04-17 修订日期：1993-08-19 |
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| DOI编号 |
| 1994,11(1):58-63 |
| 中文关键词 关节控制系统 动态精度 指令轨迹 补偿指令轨迹 实到轨迹 |
| 英文关键词 joint control system dynamic accuracy comman path compensating command path attained path |
| 基金项目 |
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| 中文摘要 |
| 从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法。通过对一2自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载、关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。 |
| 英文摘要 |
| Based on the joint motor dynamics of robot arms, an off-line compensating method which is independent of the current robot joint controllers has been developed in this paper. With the method, the dynamic accuracy problem caused by the effects of inertial and gravitational forces and derived directly from the joint control system itself could be successfully eliminated according to the reasonable example on the case of the robot with two degrees of freedom. |
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