Contour Control and Motion Modeling for Robotic Manipulators Based on Dynamic Models.I

摘要

This paper consists of two parts. The theoretical problems of constructing dynamic models of manipulators in Riemann space and the synthesis of contour control algorithms based on such models are examined in the first section. The results of modeling are reported in the second section, together with the results of an experimental investigation of the dynamic characteristics of an RIMA-560 robot.