Precise, jerk-free contouring of industrial robot arms with trajectory allowance under torque and velocity constraints

This paper addresses the contouring problem of articulated industrial robot arms, and proposes a practical solution to realize precise, jerk-free servoing. The proposed solution is an off-line trajectory construction algorithm that addresses the relevant industrial constraints and specifications namely, the velocity constraint, torque/acceleration constraint and trajectory allowance. Spline approximation is used to eliminate jerking. A forward compensator is used to compensate for delay dynamics. The proposed method was implemented experimentally on a Performer Mk-3s industrial robot arm, and improved performances were demonstrated.