Joint torque control by a direct feedback for industrial robots
作者： J. S. Luh , W. Fisher , R. C. Paul
关键词:
摘要: Based on the experimental findings of Wu and Paul [17], two joints an industrial robot have been redesigned fabricated to include torque sensing capability by means strain gauges. The resulting control systems reduced effective frictional torques from 1072 oz.in 33.5 oz.in. stability closed-loop was analyzed describing function for limit cycles exhibited in system, which can be removed insertion phased-lead series compensating networks.
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