ＳＣＡＲＡ型ロボットの運動制御の高精度化に関する研究　　動力学的補償による精度改善

DOI Web Site 被引用文献1件

書誌事項

タイトル別名
  • A study on the improvement of the SCARA robot motion. Improvement by the dynamic compensation.
  • SCARAガタ ロボット ノ ウンドウ セイギョ ノ コウ セイドカ ニ カン
  • Improvement by the Dynamic Compensation
  • 動力学的補償による精度改善

この論文をさがす

説明

This paper describes a study on the SCARA robot motion control algorism. Robot motion is under the influence of many factors, such as inertia of arms, stiffness of robot structure, friction at joints, etc. These factors cause the error of robot motion from the input path. If we want to improve the error and make precise robot motion it is necessary to take those factors into account. In this paper, a dynamic model of the SCARA robot is introduced to the robot control algorism and the softwared servo system is employed to control the DC motor which actuates the SCARA robot arms. The robot control system is constructed as hierarchy structure based on micro computers. The dynamic calculation is executed on 16 bit computer, and the DC motor control is executed by 8 bit micro computer. As a result, the improvement of the accuracy of CP (Continuous Path) control is accomplished, and it is certified the effect of the control algorism by the experimental results in this paper.

収録刊行物

  • 精密工学会誌

    精密工学会誌 54 (5), 977-982, 1988

    公益社団法人 精密工学会

被引用文献 (1)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ