Research on Grinding Robot for Trajectory Control Based on Computed Torque
In this paper, in order to achieve high-precision trajectory control of grinding robot, the method of computed torque control is proposed based on PD feedback, a single-joint robot experimental platform was built, position and velocity tracking experiment is carried out with empty Load and load. Experimental results show that the method of computed torque based on PD feedback control has the characteristic of quick response speed and small position tracking error.
T. Y. Guo et al., "Research on Grinding Robot for Trajectory Control Based on Computed Torque", Applied Mechanics and Materials, Vols. 58-60, pp. 2392-2395, 2011