A NEW METHOD FOR IMPROVING THE DYNAMIC ACCURACY OF ROBOTS

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.