Forcefree control with independent compensation for industrial articulated robot arm
Forcefree control with independent compensation for industrial articulated robot arm
复制标题
具有独立补偿功能的工业关节型机器人手臂的无力控制
DOI：
10.3182/20050703-6-cz-1902.01287
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Masatoshi Nakamura
中科院分区：
文献类型：
--
作者：
S. Goto;Yuji Ishida;N. Kyura;Masatoshi Nakamura
本文将力控制的概念进行了扩展，通过对惯性、摩擦和重力的独立补偿，实现了工业机械臂在无惯性、无摩擦、无重力的虚拟操作环境中的灵活运动。通过对实际工业机械臂的实验研究，验证了带独立补偿的力矩控制。
Abstract In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial robot arm.