Joint acceleration feedback control for robots: analysis, sensing and experiments
文献类型：期刊论文
| 作者 | Xu WL(徐卫良); Han JD(韩建达)
|
| 刊名 | Robotics and Computer-Integrated Manufacturing
 |
| 出版日期 | 2000 |
| 卷号 | 16期号:5页码:307-320 |
| 关键词 | Robot Mechatronic system Motion control Acceleration feedback Dynamic coupling disturbances |
| ISSN号 | 0736-5845 |
| 产权排序 | 1 |
| 中文摘要 | Independent joint control for robots is enhanced to suppress the dynamic couplings by incorporating an acceleration feedback loop that is designed in terms of its stability and ability in resisting the dynamic coupling disturbances. The sensing and modeling of joint acceleration via linear accelerometers is dealt from the viewpoint of practical implementation. Extensive experiments are conducted on a three-link direct drive robot, to mainly investigate the ability of the independent joint controller with the acceleration loop in resisting the coupling torque, and demonstrating the enhanced trajectory tracking performance. Results are given against the ones obtained by conventional independent joint control without the acceleration feedback control. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics |
| 研究领域[WOS] | Computer Science ; Engineering ; Robotics |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000089396300002 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/6883]  |
| 专题 | 沈阳自动化研究所_沈阳自动化所知识产出(2000年前) |
| 推荐引用方式 GB/T 7714 | Xu WL,Han JD. Joint acceleration feedback control for robots: analysis, sensing and experiments[J]. Robotics and Computer-Integrated Manufacturing,2000,16(5):307-320. |
| APA | Xu WL,&Han JD.(2000).Joint acceleration feedback control for robots: analysis, sensing and experiments.Robotics and Computer-Integrated Manufacturing,16(5),307-320. |
| MLA | Xu WL,et al."Joint acceleration feedback control for robots: analysis, sensing and experiments".Robotics and Computer-Integrated Manufacturing 16.5(2000):307-320. |
入库方式： OAI收割
来源：沈阳自动化研究所
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