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

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4 Author(s)
S. R. Munasinghe ; Dept. of Adv. Syst. Control Eng., Saga Univ., Japan ; M. Nakamura ; S. Goto ; N. Kyura

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.

Published in:

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

Date of Conference: