Comparison of different methods of trajectory calculation for an industrial robot

Author

Kim, K.H. ; Kern, A.

Author_Institution

Inst. of Power Electron. & Electr. Drives, Siegen Univ., Germany

fYear

1995

fDate

21-24 Feb 1995

Firstpage

449

Abstract

A fast robot position control scheme with a sensor has been developed, which is completely based on a transputer network. This approach was made by interfacing each transputer directly to its associated drive. Different methods of trajectory calculation for a robot are compared. The rise of the acceleration follows a sine-square function, sinusoidal function, a block function and exponential function. The robot control system can be operated under Microsoft Windows 3.0 or higher versions

Keywords

acceleration; digital control; electric sensing devices; industrial robots; position control; suboptimal control; transputer systems; transputers; Microsoft Windows; acceleration rise; block function; exponential function; industrial robot; position control scheme; robot control system; sensor; sine-square function; sinusoidal function; trajectory calculation; transputer; Acceleration; Electronics industry; Industrial control; Power electronics; Power system modeling; Robot control; Robot kinematics; Robot sensing systems; Service robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on

Print_ISBN

0-7803-2423-4

Type

conf

DOI

10.1109/PEDS.1995.404880

Filename

404880