Abstract
In order to achieve non-collision and high precision trajectory control of polishing robot, this paper presents the trajectory control method based on secondary deceleration and dynamic model. Control system is designed using the method of computed torque based on PD feedback. Trajectory control simulation experiment is implemented, and experiment results show that robot end-effector can contact with the workpiece without oscillation, and can achieve unbiased trajectory control using the method of trajectory control based on secondary deceleration and dynamic model.
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© 2011 Springer-Verlag Berlin Heidelberg
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Guo, T., Zhao, L., Wang, H. (2011). Research on Trajectory Control of Polishing Robot Based on Secondary Deceleration and Dynamic Model. In: Ma, M. (eds) Communication Systems and Information Technology. Lecture Notes in Electrical Engineering, vol 100. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21762-3_124
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DOI: https://doi.org/10.1007/978-3-642-21762-3_124
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21761-6
Online ISBN: 978-3-642-21762-3
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