Saixuan Chen¹, Jie Yang^1,*, 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 >

Tuanjie Li^1,*, 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 >