机械与电子Issue(3)：57-60,4.
直接示教机器人全数字控制系统设计
Design of Digital Controller for Direct Teaching Robot
摘要
Abstract
The robot teaching by using teaching box is usually tedious and low efficiency, therefore,a new teaching method based on torque control was proposed. By calculating and compensating the torque caused by gravity and friction, robot teaching became much more flexible and light-weight. In order to reduce the cost of robot system, a both control and drive function integrated digital controller which is only available for DC servo motor was developed. The designed controller was tested in a robot prototype. Experiments showed that the program was effective.关键词
示教机器人/力矩补偿/全数字控制器Key words
teaching robot/ torque compensation/ digital controller分类
信息技术与安全科学引用本文复制引用
张宇,游有鹏..直接示教机器人全数字控制系统设计[J].机械与电子,2013,(3):57-60,4.基金项目
国家自然科学基金项目(50975144) （50975144）
