用同步带抑制水平机械臂的振动

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509329

K. Mori, S. Morimoto, Y. Takeda

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引用次数: 2

摘要

同步皮带广泛应用于许多工业应用中，如工业机器人手臂。然而，当传动带用于机械臂时，由于传动带的灵活性和机械臂复杂的机械结构使得机械臂的平滑运动控制变得更加困难，因此很难在没有振动的情况下驱动机械臂。提出了一种具有振动抑制功能的位置控制系统，并通过实验验证了该系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Suppressing vibration of horizontal robot arm with timing belts

Timing belts are widely used in many industrial applications, such as industrial robot arm. When the belts are used in a robot arm, however, it is difficult to drive the arm without vibrations due to the flexibility of the belts and the complicated machinery of the robot arm makes smooth motion control more difficult. We propose a position control system with suppression of vibrations, and the effectiveness of the proposed system is verified from experimental results.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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