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  • Open Access


    Robot Zero-Moment Control Algorithm Based on Parameter Identification of Low-Speed Dynamic Balance

    Saixuan Chen1, Jie Yang1,*, Guohua Cui1, Fuzhou Niu2, Baiqiang Yao1, Yu Zhang1

    CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.3, pp. 2021-2039, 2023, DOI:10.32604/cmes.2022.022669

    Abstract This paper proposes a zero-moment control torque compensation technique. After compensating the gravity and friction of the robot, it must overcome a small inertial force to move in compliance with the external force. The principle of torque balance was used to realise the zero-moment dragging and teaching function of the lightweight collaborative robot. The robot parameter identification based on the least square method was used to accurately identify the robot torque sensitivity and friction parameters. When the robot joint rotates at a low speed, it can approximately satisfy the torque balance equation. The experiment uses the joint position and the… More >

  • Open Access


    Trajectory Planning of High Precision Collaborative Robots

    Tuanjie Li1,*, Yan Zhang1, Jiaxing Zhou1

    CMES-Computer Modeling in Engineering & Sciences, Vol.118, No.3, pp. 583-598, 2019, DOI:10.31614/cmes.2018.04891

    Abstract In order to satisfy the high efficiency and high precision of collaborative robots, this work presents a novel trajectory planning method. First, in Cartesian space, a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots. Then, the joint trajectories can be obtained through the inverse kinematics. In order to improve the smoothness and stability in joint space, the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline. Finally, the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot. The experimental results indicate… More >

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