摘要
AdaptiveZeroPhaseErrorFeedforwardMethodforRoboticForceControl¥(郑涌)(陶谦)(陈卫东)ZHENGYong;TAOQian;CHENWeidong(RobotResearchInstitu...
In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.