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Motion control of industrial robots with closed loop trajectories

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2 Author(s)
Ahmad, S. ; Imperial College, London, England ; Besant, C.B.

This paper is concerned with minimising path errors due to trajectory design without dynamic consideration of the arm movement and the performance of the actuators. A Controller is proposed which takes into account the integral dynamics of the "manipulator system". The scheme works by introducing the trajectory generator in to a task space feedback control loop. The trajectory is adapted on-line to make actuator demands which can be physically achieved (if such a trajectory exist), while constraining the tool to the required path.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984