Referenced Items are not available for this document.
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
Published in:
Mechatronics, IEEE/ASME Transactions on
(Volume:5
,
Issue:
4
)
Date of Publication: Dec 2000
- Page(s):
- 437 - 440
- ISSN :
- 1083-4435
- INSPEC Accession Number:
- 6807988
- Digital Object Identifier :
- 10.1109/3516.891055
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Dec 2000
- Sponsored by :
- ASME Dynamic Systems and Control Division
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