Research on Grinding Robot for Trajectory Control Based on Computed Torque

被引：0
|
作者：
Guo Tongying [1 ]
Li Jiejia [1 ]
Wang Haichen [1 ]
Zhao Languang [1 ]
机构：
[1] Shenyang Jianzhu Univ, Shenyang, Peoples R China
来源：
INFORMATION TECHNOLOGY FOR MANUFACTURING SYSTEMS II, PTS 1-3 | 2011年 / 58-60卷
关键词：
Grinding; robot; computed torque; PD feedback; dynamics;
D O I：
10.4028/www.scientific.net/AMM.58-60.2392
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, in order to achieve high-precision trajectory control of grinding robot, the method of computed torque control is proposed based on PD feedback, a single-joint robot experimental platform was built, position and velocity tracking experiment is carried out with empty Load and load. Experimental results show that the method of computed torque based on PD feedback control has the characteristic of quick response speed and small position tracking error.
引用
收藏
页码：2392 / 2395
页数：4
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