DocumentCode :
3403086
Title :
Enhanced contour control of SCARA robot under torque constraint
Author :
Nakamura, Masatoshi ; Munasinghe, Rohan ; Goto, Satoru ; Kyura, Nobuhiro
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
Volume :
3
fYear :
1999
fDate :
1999
Firstpage :
1774
Abstract :
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
Keywords :
compensation; delays; industrial manipulators; manipulator dynamics; position control; robust control; servomechanisms; SCARA robot; contour deteriorations; end-effector; enhanced contour control; joint torque saturation; modified taught data algorithm; off-line trajectory generation algorithm; power amplifier saturation; reference Cartesian path; reference input generator; robot arm; servo controller; sharp corners; system delay dynamics; torque constraint; Control systems; Defense industry; Delay systems; Electrical equipment industry; Manipulators; Power amplifiers; Robot control; Service robots; Servomechanisms; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
Type :
conf
DOI :
10.1109/IROS.1999.811735
Filename :
811735
Link To Document :
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