APPROACH TO IMPROVEMENT OF ROBOT TRAJECTORY ACCURACY BY DYNAMIC COMPENSATION

被引：14

作者：

Wang GangRen GuoliYan XianganWang GuodongDepartment of Mechanical EngineeringTianjin UniversityTianjin China ^{[300072
]}

机构：

来源：

Chinese Journal of Mechanical Engineering | 2004年 / 03期

关键词：

Robot Dynamic compensation Trajectory accuracy Identification;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

<正> Some dynamic factors, such as inertial forces and friction, may affect the robot trajectory accuracy. But these effects are not taken into account in robot motion control schemes. Dynamic control methods, on the other hand, require the dynamic model of robot and the implementation of new type controller. A method to improve robot trajectory accuracy by dynamic compensation in robot motion control system is proposed. The dynamic compensation is applied as an additional velocity feedforward and a multilayer neural network is employed to realize the robot inverse dynamics. The complicated dynamic parameter identification problem becomes a learning process of neural network connecting weights under supervision. The finite Fourier series is used to activate each actuator of robot joints for obtaining training samples. Robot control system, consisting of an industrial computer and a digital motion controller, is implemented. The system is of open architecture with velocity feedforward function. The proposed m

引用

页码：446 / 449

页数：4

共 8 条

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