Enhanced contour control of SCARA robot under torque saturation constraint
| Autor: | Satoru Goto, S.R. Munasinghe, N. Kyura, Masatoshi Nakamura |
|---|---|
| Rok vydání: | 2000 |
| Předmět: |
Engineering
business.industry SCARA Feed forward Robotics Computer Science Applications law.invention Computer Science::Robotics Control and Systems Engineering law Control theory Cartesian coordinate system Artificial intelligence Motion planning Electrical and Electronic Engineering Torque saturation business Robotic arm Position control Simulation ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 5:437-440 |
| ISSN: | 1083-4435 |
| DOI: | 10.1109/3516.891055 |
| Popis: | Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum avoidance of torque saturation and delay dynamics compensation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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