Trajectory control of a multi-axes robot with electrical servo drives

摘要

The need for high accuracy combined with speed of response in the control of multi-axes robots is discussed. Work at the author's laboratory is reviewed, showing how the requirements can be met with a combination of microelectronic components in the form of a modular microcomputer system. The discussion addresses robot control with geared servo drives, and cascade control, the reference trajectory, and sensory feedback are examined. Experimental results with AC servo drives and with the control of the robot are presented. The computation of the inverse load model is discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>