標題: The path precompensation method for flexible arm robot
作者: Chin, JH
Lin, ST
交大名義發表
機械工程學系
National Chiao Tung University
Department of Mechanical Engineering
關鍵字: tracking;flexible arm;precompensation
公開日期: 1-九月-1997
摘要: This paper constructed a closed loop path precompensation method for a flexible arm robot. A torque computation method taking care of the elastic arm deformation was first proposed and discussed. A concept of partial deformation compensation was subsequently proposed to improve the torque profiles and the trajectory fidelity. The advantage of this concept was first shown by examples of planar trajectory. After the construction of the closed-loop path precompensation method for a flexible arm; the torque method and partial deformation compensation were incorporated to track the spatial trajectory. Numerical simulations were given to show the usefulness of the proposed concept and method. (C) 1997 Elsevier Science Ltd.
URI: http://hdl.handle.net/11536/359
ISSN: 0736-5845
期刊: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume: 13
Issue: 3
起始頁: 203
結束頁: 215
顯示於類別:期刊論文


文件中的檔案:

  1. A1997XX53500003.pdf