| Adaptive Zero Phase Error Feedforward Method for Robotic Force Control |
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| 作者姓名： | 郑涌 陶谦 陈卫东 |
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| 作者单位： | Robot Research Institute，Harbin Institute of Technology，Harbin，150001，China |
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| 摘 要： | ＡｄａｐｔｉｖｅＺｅｒｏＰｈａｓｅＥｒｒｏｒＦｅｅｄｆｏｒｗａｒｄＭｅｔｈｏｄｆｏｒＲｏｂｏｔｉｃＦｏｒｃｅＣｏｎｔｒｏｌ￥（郑涌）（陶谦）（陈卫东）ＺＨＥＮＧＹｏｎｇ；ＴＡＯＱｉａｎ；ＣＨＥＮＷｅｉｄｏｎｇ（ＲｏｂｏｔＲｅｓｅａｒｃｈＩｎｓｔｉｔｕ...
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Adaptive Zero Phase Error Feedforward Method for Robotic Force Control |
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| ZHENG Yong,TAO Qian,CHEN Weidong.Adaptive Zero Phase Error Feedforward Method for Robotic Force Control[J].Journal of Harbin Institute of Technology,1994(2). |
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| Authors: | ZHENG Yong TAO Qian CHEN Weidong |
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| Abstract: | In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability. |
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| Keywords: | ss:Robot force control adaptive control zero phase error feedforward control |
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