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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.
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on (Volume:4 )
Date of Conference: 2001