SUMMARYIn this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.

中文翻译：

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平面5R并联机器人点对点运动的完美转矩补偿，最优控制方法

总结在本文中，提出了一种新的方法来实现机器人在点对点运动中的完美扭矩补偿。所提出的方法被表述为一个开环最优控制问题。该问题被定义为具有可调节设计参数的最优轨迹规划，以完美地补偿平面 5R 并联机器人对给定任务的应用扭矩。为了说明该方法的有效性，在实验中将获得的最优路径作为参考命令。实验输出表明，与机器人的典型设计相比，性能指标降低了 80% 以上。