Model-based Feedforward Control in Industrial Robotics
نویسندگان
چکیده
منابع مشابه
Bodo Heimann Model - based Feedforward Control in Industrial Robotics
Simple linear joint controllers are still used in typical industrial robotic systems. The use of these controllers leads to non-negligible dynamic path deviations for applications that require high path accuracy. These deviations result from the strong influence of nonlinearities, such as multi-body dynamics and gear friction. Sophisticated nonlinear control algorithms, known from the literatur...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2002
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836402320556476