Control of an industrial robot using acceleration feedback

被引：38

作者：

Dumetz, Eric

Dieulot, Jean-Yves

Barre, Pierre-Jean

Colas, Frederic

Delplace, Thomas

机构：

[1] ENSAM, L2EP, CEMODYNE, ERT,Technol Res Team, F-59046 Lille, France

[2] ENSAM, CNRS, UMR 8021, LAGIS, F-59046 Lille, France

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2006年 / 46卷 / 02期

关键词：

acceleration feedback; industrial robot; jerk; vibration control;

D O I：

10.1007/s10846-006-9042-8

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A controller using acceleration feedback has been applied to a flexible robot for which the position and velocity of the load are not measured. It is shown that acceleration feedback allows an exact tracking of the motor position, irrespective of the non-linear flexibilities of the axes and of the measurement disturbances. This easy-to-tune algorithm whose main control parameters are the modal masses of the motor and load part, and only consists of a positive acceleration feedback plus a PD controller, has been validated on an industrial robot with orthogonal axes.

引用

页码：111 / 128

页数：18