ロボットの高速制御と適応制御

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タイトル別名
  • High-speed control and adaptive control of a robot arm.
  • ロボット ノ コウソク セイギョ ト テキオウ セイギョ

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抄録

A 16-bit parallel data controlled robot is made which can easily be controlled by a personal computer. Fist, the trajectory is planned to calculate the driving torque which compensates for the dynamic reflection of the robot. The trajectory and the driving torque are fed through the parallel port to produce the fast motion of the robot. However, the dynamic property of the robot will change according to the arm position. The computer monitors both actuating signals and controlled position. After one cycle of robot motion. the auto regressive method is applied to identify the robot dynamics. These data are used to calculate a more accurate driving force which is fed to the robot controller on the next motion. The results obtained clarify the ability to identify inertia and damping factors.

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