An error compensation controller for milling robots
This paper presents a method of controlling a serial robot for milling by an inverse kinematic controller combined with an outer PD loop (Inverse Dynamics + PD controller), with calibration and compensation of errors in calculating the cutting forces. Because the cutting forces are generated at the...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Publishing House for Science and Technology
2023-06-01
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| Series: | Vietnam Journal of Mechanics |
| Subjects: | |
| Online Access: | https://vjs.ac.vn/index.php/vjmech/article/view/16979 |
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