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首页> 外文会议>International Carpathian Control Conference >Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation
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Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation

机译：利用重力和惯性补偿的机器人机械手的反馈控制

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The paper describes an approach to the robot manipulator control based on a compensation of non-linear gravity terms and inertial terms in the robot motion equations and applying the PD or PID-type control law. While benefits of the compensation of the gravity force effects are well known, the inertial effects compensation, which seems to be more difficult to implement, brings additional enhancement of the control quality. An approximate compensation can be carried out in a relatively simple and efficient way, if the robot dynamics is represented by a mass-point model. The remaining influences can be treated as disturbances. Unlike the inverse dynamics approach, complete and precise mathematical model of the robot is not needed, which is an important advantage, since models of robots containing more than three links are usually very complex and difficult to obtain.
机译：本文介绍了一种基于机器人运动方程中非线性重力项和惯性项的补偿并应用PD或PID型控制律的机器人操纵器控制方法。尽管补偿重力作用的好处是众所周知的，但似乎更难以实现的惯性作用补偿带来了控制质量的进一步提高。如果机器人动力学由质点模型表示，则可以以相对简单和有效的方式进行近似补偿。其余的影响可以视为干扰。与逆动力学方法不同，不需要机器人的完整而精确的数学模型，这是一个重要的优势，因为包含三个以上链接的机器人模型通常非常复杂且难以获得。

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