Three dynamic problems in robot force control
Three dynamic problems in robot force control
复制标题
机器人力控制的三个动态问题
DOI：
10.1109/robot.1989.100019
复制
发表时间：
1989
期刊：
影响因子：
--
通讯作者：
W. Seering
中科院分区：
文献类型：
--
作者：
S. Eppinger;W. Seering
讨论了机器人系统中出现的三个动力学问题：刚体带宽、动态非并置柔性模式和动态并置柔性模式。这些影响结合在一起，设置了在各个关节控制回路中可实现的闭环系统带宽。给出了机器人系统的简单模型来说明这三种动态效应。然后介绍了一些实验室数据，并用这些术语进行了分析。最后讨论了对机器人系统设计的影响，希望这些问题将在下一代机器人系统和机床的发展中得到考虑。
Three dynamic problems which arise in robot systems are discussed: rigid-body bandwidth; dynamically noncolocated flexible modes; and dynamically colocated flexible modes. These effects combine to set the closed-loop bandwidth achievable in the individual joint control loops. Simple models of robot systems are presented to illustrate these three dynamic effects. Some laboratory data are then presented and analyzed in these terms. Finally, the implications for robot system design is discussed in the hope that these issues will be considered in the development of the next generation of robot systems and machine tools.<<ETX>>