Abstract

The continuous path control of industrial robots (IR) with a prescribed absolute velocity of the gripper is considered. The control algorithm has a two-level structure: trajectory planning algorithm to generate intermediate points of the desired trajectory and servoing algorithm that drives the gripper along straight lines passing through the planned points. Some useful properties of the servoing algorithm are briefly discussed. An example of a four degrees of freedom IR in cylindric coordinates is considered to illustrate the application of the both algorithms for real-time control.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.