@inproceedings{327680a3c47542fdac08811826a96ece,
title = "Dynamics modeling and smooth control of flexible robot joint",
abstract = "The flexibility of robot joint has become the key factor to achieve the high performance control. Based on the established mathematical model, taking the flexible joint of joint robot for example, the dynamic model of the flexible joint is established by Lagrange's equations of the second kind and a detailed derivation process is presented. In order to realize the smooth motion control of robot joint and prevent the vibration effect caused by the shock of acceleration and deceleration on flexible joint, the S curve acceleration and deceleration control algorithm is adopted and verified through the related experiments. It is found that the S curve acceleration and deceleration control algorithm can realize the continuous acceleration on the trajectory of movement, improve the tracking performance of robot and reduce the residual vibration effectively.",
keywords = "Acceleration and deceleration control, Dynamics, Flexibility of joint, Smooth control",
author = "Yan Xu and Zhang, {Yan Hua} and Liu, {Wen Hui} and Duan, {Xing Guang} and Liang Gao",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = sep,
day = "2",
doi = "10.1109/ICMA.2015.7237558",
language = "English",
series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "631--636",
booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
address = "United States",
}