机器人摩擦特性的补偿控制  

Measurement, and Control, l998, 2: l52-156. Compensating Control of Robot's Friction

作　　者：马骏骑[1] 陈从平[1] 季庸惠 郑军华[1] 

机构地区：[1]昆明理工大学机电工程学院,云南昆明650093

出　　处：《昆明理工大学学报（理工版）》2001年第5期93-95,共3页Journal of Kunming University of Science and Technology(Natural Science Edition)

摘　　要：介绍消除机器人关节摩擦特性对其位置伺服系统影响的两种方法。In this paper, two methods of eliminating the effect which the robot's elbow friction gives to the servo system are introduced. One is fore-feedback compensator in condition of the friction measureable, the other is Robust compensator in condition of the friction unmeasureable.

关 键 词：机器人 磨擦特性 前馈补偿 鲁棒补偿 补偿控制 磨擦力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]