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

被引：20

作者：

Xu, WL ^{[1
]}

Tso, SK

Wang, XS

机构：

[1] City Univ Hong Kong, Fac Sci & Technol, Ctr Intelligent Design Automat & Mfg, Hong Kong, Peoples R China

[2] Southeast Univ, Dept Engn Mech, Inst Intelligent Machines, Nanjing, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 1998年 / 33卷 / 07期

关键词：

D O I：

10.1016/S0094-114X(98)00009-3

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

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. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：909 / 924

页数：16

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