Enhanced contour control of SCARA robot under torque constraint

Contour control of a robot arm is an act of the end-effector being moved along a reference Cartesian path, with an assigned velocity. While contouring sharp corners and, at the start and the end of the operation, a substantial torque demand is originated from the reference input generator. It causes power amplifier saturation of the servo controller and hence the saturation of joint torque. Once torque saturation occurs, and lasts for some time, contour deteriorations are caused. In addition, system delay dynamics also causes contour deteriorations. In this research, optimum avoidance of torque saturation and delay dynamics compensation are achieved by an off-line trajectory generation algorithm and modified taught data algorithm