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Dual mode synchronous positioning with switching of master–slave axes by using a torque signal for contour control of articulated robot arms
Author(s) -
Nakamura Masatoshi,
Yamanaka Shinji,
Goto Satoru,
Kyura Nobuhiro
Publication year - 2001
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.1117
Subject(s) - master/slave , robot , dual (grammatical number) , control theory (sociology) , torque , signal (programming language) , engineering , computer science , simulation , control (management) , artificial intelligence , physics , art , literature , thermodynamics , programming language , operating system
Dual mode synchronous positioning control with switching of master and slave axes is proposed to realize accurate contour control of industrial robot arms. The axis which is contaminated with disturbance is selected as the master axis, then the disturbances in both first axis and second axis can be compensated. The effectiveness of the proposed method was verified by experimental results of an actual articulated robot arm. © 2001 Scripta Technica, Electr Eng Jpn, 138(2): 33–40, 2002