Estimating the Gravity Terms in Robot Manipulatiors for PD Control

R. Garrido, A. Soria
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引用次数: 2

Abstract

A method is propcmed for estimating the gravity terms in robot manipulators. It is applied in closed loop and uses steady-state meesurernents of joint positions and input voltages, and does not need force or torque measurements. It is well suited for setting up controllers requiring gravity compensation. Experimental resulta are shown for a one-degree-of-freedom robot in closed loop with a proportional derivative controller and for a two-degree robot controlled in a visual sewoing framework.
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PD控制下机器人操作中重力项的估计
提出了一种估计机器人机械臂重力项的方法。它应用于闭环中,使用关节位置和输入电压的稳态测量,不需要力或扭矩测量。它非常适合于设置需要重力补偿的控制器。给出了采用比例微分控制器的一自由度闭环机器人和采用视觉缝纫框架控制的二自由度机器人的实验结果。
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