Arnold J. Lobbezoo, P. Bruijn, M. Davies, W. Dunford, P. Lawrence, H. R. V. N. Lemke
{"title":"采用自适应变换的机器人控制","authors":"Arnold J. Lobbezoo, P. Bruijn, M. Davies, W. Dunford, P. Lawrence, H. R. V. N. Lemke","doi":"10.1109/56.781","DOIUrl":null,"url":null,"abstract":"A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Robot control using adaptive transformations\",\"authors\":\"Arnold J. Lobbezoo, P. Bruijn, M. Davies, W. Dunford, P. Lawrence, H. R. V. N. Lemke\",\"doi\":\"10.1109/56.781\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system. >\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"38 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-02-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/56.781\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.781","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system. >
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