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Comparison of different methods of trajectory calculation for an industrial robot

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2 Author(s)
Kim, K.H. ; Inst. of Power Electron. & Electr. Drives, Siegen Univ., Germany ; Kern, A.

A fast robot position control scheme with a sensor has been developed, which is completely based on a transputer network. This approach was made by interfacing each transputer directly to its associated drive. Different methods of trajectory calculation for a robot are compared. The rise of the acceleration follows a sine-square function, sinusoidal function, a block function and exponential function. The robot control system can be operated under Microsoft Windows 3.0 or higher versions

Published in:

Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on

Date of Conference:

21-24 Feb 1995