Abstract
High speed and high accurate control performance is required for industrial robot arms. The research is aimed at high accurate control of industrial articulated robot arms with trajectory allowance under torque and speed constraints. The proposed method is based on nonlinear separation that decomposes the nonlinear dynamics from the nonlinear static parts and linear dynamic part. Controller was constructed for separation of trajectory generation and taught data generation, and it could be achieved perfect performance under the speed and torque constraints imposed by the hardware of robot arm. The eectiv eness of the proposed method was assured by experimental results of an actual articulated robot arm.
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