A semi closed loop compensation method for trajectory error of continuum robot based on vector method - 文章详情页

作者：

Wang, Pengyu (Wang, Pengyu.) | Gao, Guohua (Gao, Guohua.) (学者：高国华)

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摘要：

The　complex　inverse　position　solution　can　be　avoided　when　the　continuum　robot　works　in　the　velocity　mode,　but　the　position　output　error　in　the　velocity　mode　will　have　a　great　impact　on　the　end　motion　accuracy　of　the　continuum　robot.　In　this　paper,　from　the　point　of　view　of　servo　motor　output　accuracy,　The　open-loop　drive　accuracy　is　studied　based　on　kinematics.　In　addition,　a　position　compensator　based　on　vector　method　is　established　by　using　semi　closed　loop　feedback,　and　its　effectiveness　is　verified　by　experiments.　©2019　IEEE.

关键词：

Inverse problems Error compensation Manufacture Kinematics Robots

作者机构：

[ 1 ] [Wang, Pengyu]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
[ 2 ] [Gao, Guohua]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China

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