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
相关论文
共 50 条
  • [31] Research on ground mobile robot trajectory tracking control based on MPC and ANFIS
    You, Yulong
    Yang, Zhong
    Zhuo, Hao-ze
    Sui, Yaoyu
    CONTROL ENGINEERING PRACTICE, 2024, 152
  • [32] Research on robot motion control and trajectory tracking based on agricultural seeding br
    Chen, L. L.
    COMPUTER OPTICS, 2023, 47 (01) : 179 - 184
  • [33] Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station
    Jiang Zhihong
    Xu Jiafeng
    Li Hui
    Huang Qiang
    2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR), 2018, : 13 - 18
  • [34] Robot Belt Grinding Trajectory Optimization Based on GLS-PSO
    Yang Hongjun
    Song Yixu
    Liang Wei
    Jia Peifa
    2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 5418 - 5423
  • [35] Trajectory tracking control for wheeled mobile robot subject to generalized torque constraints
    Shen, Chaojie
    Bai, Jianjun
    Shi, Bingxin
    Chen, Yun
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2023, 45 (07) : 1258 - 1270
  • [36] A Comparison of Computed Torque Control and Sliding Mode Control for a Three Link Robot Manipulator
    Chaturvedi, Nirbhay Kumar
    Prasad, L. B.
    2018 INTERNATIONAL CONFERENCE ON COMPUTING, POWER AND COMMUNICATION TECHNOLOGIES (GUCON), 2018, : 1012 - 1017
  • [37] Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement
    董高云
    许春山
    费燕琼
    赵锡芳
    Journal of Donghua University(English Edition), 2003, (03) : 32 - 37
  • [38] Efficient High-speed Vision-based Computed Torque Control of the Orthoglide Parallel Robot
    Dahmouche, Redwan
    Andreff, Nicolas
    Mezouar, Youcef
    Martinet, Philippe
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 644 - 649
  • [39] Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques
    Peng, W.
    Lin, Z.
    Su, J.
    IET CONTROL THEORY AND APPLICATIONS, 2009, 3 (06): : 701 - 711
  • [40] Research on Surface Tracking and Constant Force Control of a Grinding Robot
    Shi, Xiaohua
    Li, Mingyang
    Dong, Yuehu
    Feng, Shangyu
    SENSORS, 2023, 23 (10)
12345