Title :
Manipulator Cartesian Path Control
Abstract :
In describing the motion of a manipulator we are concerned with the position to which the hand moves, as well as the path it traverses. Paths made up of straight line segments connected together by smooth transitions with controlled acceleration are proposed. Segments end points may be defined in various fixed and moving Cartesian coordinate systems. The evaluation rate of the straight line motion is analyzed and an interpolation scheme described.
Keywords :
Acceleration; Assembly; Control systems; End effectors; Interpolation; Manipulators; Motion analysis; Motion control; Robot kinematics; Servomechanisms;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1979.4310109
