Sensor-based deflection modeling and compensation control of flexible robotic manipulator

被引：0
|
作者：
Xu, WL
Tso, SK
Wang, XS
Zhang, JZ
机构：
来源：
SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION | 1997年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sensor-based technique is proposed for the modeling and control of the manipulator positioning errors caused by structural deflections of the flexible links. A laser-optical sensor system is specially designed for measuring the deflections of each flexible link, and the robot positioning inaccuracies are thus deduced through the link deflections measured and finally compensated for in real time by adjustment of the joint variables. The principle of measurement is described, the sensor-based modeling and compensation algorithms of the robot positioning errors are presented, and the simulation results are given in the paper.
引用
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页码：3780 / 3785
页数：6
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