多関節ロボットアームにおける外乱対策を図った主軸従軸切替え位置同期制御法
2001 年 121 巻 1 号 p. 83-89
詳細
2001 年 121 巻 1 号 p. 83-89
Dual mode synchronous positioning control with switching master and slave axes is proposed to realize accurate contour control of industrial robot arms. Disturbance contaminated axis is switched to the master axis, then each of the disturbance in the first axis or the second axis can be compensated. Effectiveness of the proposed method was assured by the experimental results of an actual articulated robot arm.
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