Achieving Fine Absolute Positioning Accuracy in Large Powerful Manipulators(精确校准机构演算法文献).pdfVIP

Proceedings of the 1999 EEE International Conference on Robotics Automation Detroit, Michigan - May 1999 Achieving Fine Absolute Positioning Accuracy in Large Powerful Manipulators Marco A. Meggiolaro, Peter C. L. Jaffe and Steven Dubowsky Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge, MA 02139 joint sensors [5, 91. The method, called Base Sensor Abstract Control (BSC), estimates manipulatorjoint torques from a self-contained external six-axis forcehorque sensor Important robotic tasks could be most effectively done placed under the manipulator’s base. The joint torque by powerful and accurate manipulators. However, high estimates allow for accuratejoint torque control that has accuracy is generally unattainable in manipulators been shown to greatly improve repeatability of both capable of producing high task forces due to such factors hydraulic and electric manipulators. as high joint, actuator, and transmission friction and link Even with improved repeatability, high absolute elastic and geometric distortions. A method called Base positioning accuracy is still difficult to achieve with a Sensor Control (BSC) has been developed to compensate