DocumentCode
2740652
Title
Contribution to Cartesian control of robots
Author
Borovac, Branislav ; Stokic, Dragan ; Vukobratovic, Marko
Author_Institution
Fac. of Tech. Sci., Novi Sad. Univ.
fYear
1990
fDate
21-23 May 1990
Firstpage
425
Lastpage
430
Abstract
The dynamic Cartesian control scheme considered is based on the resolved velocity method and includes a complete dynamic model of the system. A method for reducing the deviation of the robot end-effector from the nominal trajectory is suggested. A numerical example is presented, and the effects of uncertainties of the mechanism parameters on the accuracy of tracking a prescribed trajectory are studied by computer simulation
Keywords
control system analysis; position control; robots; dynamic Cartesian control; end-effector; position control; tracking; trajectory; Automatic control; Motion control; Orbital robotics; Robot control; Robotics and automation; Sampling methods; Signal resolution; Trajectory; Uncertainty; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Integrated Manufacturing, 1990., Proceedings of Rensselaer's Second International Conference on
Conference_Location
Troy, NY
Print_ISBN
0-8186-1966-X
Type
conf
DOI
10.1109/CIM.1990.128137
Filename
128137
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