DocumentCode
1418207
Title
Enhanced contour control of SCARA robot under torque saturation constraint
Author
Nakamura, Masatoshi ; Munasinghe, S. Rohan ; Goto, Satoru ; Kyura, Nobuhiro
Author_Institution
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
Volume
5
Issue
4
fYear
2000
fDate
12/1/2000 12:00:00 AM
Firstpage
437
Lastpage
440
Abstract
Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum avoidance of torque saturation and delay dynamics compensation
Keywords
compensation; feedforward; industrial manipulators; manipulator dynamics; path planning; position control; torque control; Cartesian path; SCARA robot; contour control; delays; dynamics; feedforward compensation; industrial robot arm; offline trajectory generation; torque saturation; Defense industry; Delay systems; Electrical equipment industry; Manipulators; Robot control; Robot kinematics; Service robots; Servomechanisms; Torque control; Trajectory;
fLanguage
English
Journal_Title
Mechatronics, IEEE/ASME Transactions on
Publisher
ieee
ISSN
1083-4435
Type
jour
DOI
10.1109/3516.891055
Filename
891055
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