DocumentCode
1165281
Title
Manipulator Cartesian Path Control
Author
Paul, Richard
Volume
9
Issue
11
fYear
1979
Firstpage
702
Lastpage
711
Abstract
In describing the motion of a manipulator we are concerned with the position to which the hand moves, as well as the path it traverses. Paths made up of straight line segments connected together by smooth transitions with controlled acceleration are proposed. Segments end points may be defined in various fixed and moving Cartesian coordinate systems. The evaluation rate of the straight line motion is analyzed and an interpolation scheme described.
Keywords
Acceleration; Assembly; Control systems; End effectors; Interpolation; Manipulators; Motion analysis; Motion control; Robot kinematics; Servomechanisms;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/TSMC.1979.4310109
Filename
4310109
Link To Document