ON THE USE OF VELOCITY FEEDBACK FOR ROBOT IMPACT CONTROL

被引：0
|
作者：
LI, YFF
机构：
[1] AI and Robotics Group, Department of Computer Science, The University of Wales, Aberystwyth
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 1994年 / 13卷 / 04期
关键词：
ROBOT; TIP VELOCITY; IMPACT CONTROL;
D O I：
10.1016/0921-8890(94)90013-2
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Most of the existing impact control strategies have relied on integral action and robot joint velocity feedback to achieve the desired damping effect. The limitations of such approaches are discussed in this paper. Based on a robot tip velocity reconstruction scheme, a positive tip velocity feedback method was introduced. This helped overcome the non-colocation problem due to the higher order arm dynamics and enhanced the impact suppression. A control strategy which includes the velocity feedback and an integral control was then developed and implemented on an industrial robot.
引用
收藏
页码：297 / 305
页数：9
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