Dual mode synchronous positioning with switching of master-slave axes by using a torque signal for contour control of articulated robot arms

摘要

Dual mode synchronous positioning control with switching of master and slave axes is proposed to realize accurate contour control of industrial robot aims. The axis which is contaminated with disturbance is selected as (he master axis, then the disturbances in both first axis and second axis can be compensated. The effectiveness of the proposed method was verified by experimental results of an actual articulated robot arm.