Theoretical and simulation research on real-time path tracking strategy for industrial robots

Previously, researchers raised the accuracy of robot hand tracking a specified path in Cartesian space mainly through increasing the number of the path´s segments. However, this method resulted in the heavier online computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time and accurate hand path tracking method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and cosinoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of a robot hand, and does not change the number of the path´s segments and the sum of joint displacement equations. It also does not increase markedly the computational burden of the robot controller. The result of computer simulation shows this method is very effective.