摘要
用Kane方法建立了考虑关节处驱动电机与工作臂之间刚度和阻尼的3关节CP控制工业机器人关节误差响应方程。对不同关节运动规律配置时关节误差响应特性进行了研究,在此基础上提出了选择高速工业机器人关节运动规律的一般原则。
This paper considers the flexibilities of the transmission elements between the joint and motors. By the Kane method an equation is established to analyze the joint error responses of a three-link robot used for CP control. Based on the study of the characteristics of the error responses to six normal joint trajectories, a new rule to select the joint trajectory suitable for high speed robot is presented.
出处
《天津大学学报》
EI
CAS
CSCD
1992年第3期8-16,共9页
Journal of Tianjin University(Science and Technology)
关键词
机器人
关节
刚度
误差响应
robot, joint, rigidity, error response