Title :
Precise control of industrial robot arms considering trajectory allowance under torque and speed constraints
Author :
Munasinghe, S.R. ; Nakamura, M. ; Goto, S. ; Kyura, N.
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
Abstract :
Presents a control algorithm for industrial robot arms. This algorithm is based on off-line trajectory generation with compensation of statics and dynamics. Using the proposed method, the Performer MK-3s industrial robot arm was controlled and improved performance has been realized. The proposed algorithm appears as a feedforward, off-line block in the robot arm control system. Therefore, it could be conveniently incorporated with the industrial robot arms without significant hardware alterations.
Keywords :
compensation; feedforward; industrial manipulators; manipulator dynamics; position control; Performer MK-3s industrial robot arm; off-line trajectory generation; precise control; speed constraints; torque constraints; Control systems; Defense industry; Electrical equipment industry; Hardware; Industrial control; Manipulators; Robot control; Service robots; Servomechanisms; Torque control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933233
