Improving the dynamic accuracy of industrial robots by trajectory pre-compensation

被引：0
|
作者：
Verdonck, W [1 ]
Swevers, J [1 ]
机构：
[1] Katholieke Univ Leuven, Dept Engn Mech, Louvain, Belgium
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a method to improve the path tracking accuracy of an industrial robot without replacing the standard industrial controller. By calculating off-line an appropriate trajectory pre-compensation, the effects of the nonlinear dynamics are compensated. This is realized by filtering the desired trajectory with the inverse dynamic model of the robot and its velocity controller. This compensation is applied as a velocity feed-forward in the standard industrial controller avoiding the need for a torque control interface. The presented method is experimentally validated on a KUKA IR 361 industrial robot. The results show clearly improved path tracking accuracy on circular trajectories.
引用
收藏
页码：3423 / 3428
页数：6
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