利用 FDTD 方法通过姿态变量动态补偿和反馈控制实现工业机器人的单轴控制

IF 1.4 4区计算机科学 Q4 ROBOTICS

Advanced Robotics Pub Date : 2023-12-12 DOI:10.1080/01691864.2023.2291721

Juan Padron, Kenta Tatsuda, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki

引用次数: 0

摘要

工业机器人会经历与姿势有关的惯性变化和关节间的干扰力，这反过来又会由于还原装置的固有弹性而产生不希望有的振动。

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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Individual axis control for industrial robots by posture-variant dynamic compensation and feedback control using the FDTD method

Industrial robots experience posture-dependent inertial variation and interference forces between joints, which in turn generates undesired vibrations due to the inherent elasticity of the reductio...

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来源期刊

Advanced Robotics 工程技术-机器人学

CiteScore

4.10

自引率

20.00%

发文量

102

审稿时长

5.3 months

期刊介绍： Advanced Robotics (AR) is the international journal of the Robotics Society of Japan and has a history of more than twenty years. It is an interdisciplinary journal which integrates publication of all aspects of research on robotics science and technology. Advanced Robotics publishes original research papers and survey papers from all over the world. Issues contain papers on analysis, theory, design, development, implementation and use of robots and robot technology. The journal covers both fundamental robotics and robotics related to applied fields such as service robotics, field robotics, medical robotics, rescue robotics, space robotics, underwater robotics, agriculture robotics, industrial robotics, and robots in emerging fields. It also covers aspects of social and managerial analysis and policy regarding robots. Advanced Robotics (AR) is an international, ranked, peer-reviewed journal which publishes original research contributions to scientific knowledge. All manuscript submissions are subject to initial appraisal by the Editor, and, if found suitable for further consideration, to peer review by independent, anonymous expert referees.