SIA OpenIR  > 沈阳自动化所知识产出(2000年前)
Alternative TitleJoint acceleration feedback control for direct-drive robot decoupling
韩建达; 谈大龙; 蒋新松
Source Publication自动化学报
Indexed ByEI ; CSCD
EI Accession number2001025400362
Contribution Rank1
Funding Organization“八六三”计划智能机器人主题资助项目
Keyword加速度 反馈控制 解耦 直接驱动机器人
Abstract以利用线加速度传感器实际测量转动关节的加速度为基础 ,分析了机器人关节加速度反馈控制的开环模型 ,以及影响其闭环稳定性的主要因素 ;提出了闭环控制策略的设计准则 .在一台三自由度直接驱动机器人上的实验结果证明了该文分析的正确性 ,与不具备加速度反馈控制时的实验结果相比较 ,显示出这种方法的有效性
Other AbstractThe link  couplings of a multi  DOF DD  robot always act as a kind of torque disturbances.Joint acceleration feedback control based on sensed acceleration information will help to resist such coupling effects and improve the joint tracking performance.In this paper,linear accelerometer is used to sense the rotatory joint acceleration and a model is given to describe the sensed open loop resonance,and design criteria for stable and functional control law are also proposed.Extensive experiments are conducted on a threelink DD  robot and the results are presented to validate the analyses and demonstrate the improvements benefited from the proposed method.
Citation statistics
Document Type期刊论文
Corresponding Author韩建达
Recommended Citation
GB/T 7714
韩建达,谈大龙,蒋新松. 直接驱动机器人关节加速度反馈解耦控制[J]. 自动化学报,2000,26(3):289-295.
APA 韩建达,谈大龙,&蒋新松.(2000).直接驱动机器人关节加速度反馈解耦控制.自动化学报,26(3),289-295.
MLA 韩建达,et al."直接驱动机器人关节加速度反馈解耦控制".自动化学报 26.3(2000):289-295.
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