Precise control of industrial robot arms considering trajectory allowance under torque and speed constraints

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.