To improve the dynamic tracking ability of spot welding manipulator withheavy payload, a new programmable motion controller, which can provide software and hardwaresupports for several kinds of control algorithms, is ...To improve the dynamic tracking ability of spot welding manipulator withheavy payload, a new programmable motion controller, which can provide software and hardwaresupports for several kinds of control algorithms, is developed first. Then, a decentralized adaptivecontrol algorithm is used to compensate the coupling between the manipulator joints, and thealgorithm is easy to implement based on the motion controller. Finally, experiments demonstratethat, compared with the traditional PID, the dynamic tracking ability of the manipulator can beobviously improved with this algorithm.展开更多
基金This project is supported by China Postdoctoral Science Foundation (No.2003033123).
文摘To improve the dynamic tracking ability of spot welding manipulator withheavy payload, a new programmable motion controller, which can provide software and hardwaresupports for several kinds of control algorithms, is developed first. Then, a decentralized adaptivecontrol algorithm is used to compensate the coupling between the manipulator joints, and thealgorithm is easy to implement based on the motion controller. Finally, experiments demonstratethat, compared with the traditional PID, the dynamic tracking ability of the manipulator can beobviously improved with this algorithm.
