Robot Manipulator Path Control Based on P Representation

Abstract

In this paper proposes, a new path control method with consideration on control ability of designed robot manipulator control system based on P representation. This P representation represents phase angles of a given path with respect to each axis of work space. Tracking speed of manipulator should be changed with phase of the given path. Determination of the tracking speed is made systematically on the basis of frequency response of the designed control system. The Designed trajectory is the minimum time trajectory and no trial-error procedure is necessary. This method is called as optimal trajectory planning. Unsolved problems in previously proposed methods considering control ability of designed control system are solved by the proposed optimal trajectory planning method. This method is applicable to multi-degree of freedom robot manipulators without difficulty.A parallel drive robot manipulator is taken as an example to show the effectiveness of proposed method.