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Alternative TitleAutonomous Mobile Robot Map Building,Localization and Path Planning
邹风山; 赵彬
Source Publication组合机床与自动化加工技术
Contribution Rank1
Funding Organization国家科技重大专项:硅片集成传输系统研发和示范应用(2014ZX02103) ; 国家高技术研究发展 863 计划(2012AA041405) ; 沈阳市工业科技攻关项目(F12-010-2-00)
Keyword电流力控制 神经网络 机器人动力学 拖曳示教
Other AbstractBased on the motor current,the active compliant control of the robot is studied,and the drag- and-drop teaching experiment is carried out for the 7-DOF joint one-body robot. Firstly,the multi-layer feedforward neural network is used to solve the inverse kinematics problem of the robot kinematics,and the complex nonlinear optimization problem is transformed into a simple algebraic equation group for solving the kinematic analysis of the joint-integrated robot. Then,due to the special configuration of the robot and the complicated coupling of the joints,the Newton-Euler dynamics model is adopted. The torque model of the permanent magnet synchronous motor is combined with the robot kinetic model to obtain the force detection based on the current model. Finally,the active compliant control of the robot based on the motor current is realized,and the teaching experiment of the robot is carried out. The actual running result verifies the effectiveness of the method.
Document Type期刊论文
Corresponding Author邹风山
Recommended Citation
GB/T 7714
邹风山,赵彬. 基于电流的力控制技术与安全保护研究[J]. 组合机床与自动化加工技术,2017(8):100-104.
APA 邹风山,&赵彬.(2017).基于电流的力控制技术与安全保护研究.组合机床与自动化加工技术(8),100-104.
MLA 邹风山,et al."基于电流的力控制技术与安全保护研究".组合机床与自动化加工技术 .8(2017):100-104.
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