Abstract
A new method is offered for gross-motion control of articulated industrial robots to reduce the computational requirements otherwise needed for real-time feed-forward control. The basic idea is the on-line measurement of the joint torques - simultaneously with the measurement of joint displacements and velocities. The actual inertial load is approximated by computation and all the other disturbing loads are derived from the joint torque measurements through extrapolation. The feasibility of this method is tested on a 3 dof mathematical model, and its performance is compared against that of the “Computed torque drive method” at different working conditions.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
