Robot arm imitated mechanism of bi-articular muscles using antagonism multi-motor drives

摘要

The demands for an industrial robot are speed and accuracy. A dead-zone like the backlash may cause delay, inaccuracy, vibration and degrades overall control performance. In this paper the backlash vibration control in the flinging up the manipulator by the sequence multi-motor drive is shown. 2-links manipulator is driven by one or more motors. The sequence drive stop produces a controlled vibration smaller than synchronous stop. Multi-motor system realizes the servosystem which not only carries high efficiency and highly precise system but also allows a low price.