周学才, 张启先. 一种新的改善机器人动态精度的方法[J]. 机器人, 1993, 15(1): 10-15.
引用本文: 周学才, 张启先. 一种新的改善机器人动态精度的方法[J]. 机器人, 1993, 15(1): 10-15.
ZHOU Xuecai, ZHANG Qixian. A NEW METHOD FOR IMPROVING THE DYNAMIC ACCURACY OF ROBOTS[J]. ROBOT, 1993, 15(1): 10-15.
Citation: ZHOU Xuecai, ZHANG Qixian. A NEW METHOD FOR IMPROVING THE DYNAMIC ACCURACY OF ROBOTS[J]. ROBOT, 1993, 15(1): 10-15.

一种新的改善机器人动态精度的方法

A NEW METHOD FOR IMPROVING THE DYNAMIC ACCURACY OF ROBOTS

  • 摘要: 从机器人关节反馈控制系统模型出发,本文提出了一种利用补偿指令轨迹来改善机器人动态精度的方法,并指出了这一方法实施的全过程.利用这一方法对机器人实施控制,不仅可以从根本上克服由于重力负载和杆件离心效应等因素的干扰给控制系统带来的动态精度问题,而且还可消除由于反馈控制系统本身的固有特性所决定的系统的动态跟踪误差.通过在PUMA560上的数值研究,证明了本文理论方法的正确性.

     

    Abstract: Based on the joint motor dynamics of robots,a new method for improving the dynamic accuracy of robotshas been developed by making use of a concept called compensating command path.With the method,the dy-namic accuracy problems either caused by the effects of inertial force and gravity or derived directly from thejoint feedback system itself could be successfully ruled out according to the reasonable example in the case ofPUMA560.

     

/

返回文章
返回