Title :
A decomposed control scheme for vision-guided manipulators curve tracking
Author :
Ping, Jiang ; Chen, Hui-tang ; Wang, Yue-juan ; Lin, Jing
Author_Institution :
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
fDate :
6/1/1999 12:00:00 AM
Abstract :
This letter presents a robot control algorithm for vision guided curve tracking using orthogonal decomposition control method. It was implemented in a glass-cutting direct-drive robot for the drawing curve input with high speed and smooth tracking performance
Keywords :
cutting; industrial manipulators; robot vision; curve tracking; decomposed control scheme; glass-cutting direct-drive robot; high speed performance; orthogonal decomposition control method; robot control algorithm; smooth tracking performance; vision guided curve tracking; vision-guided manipulators; Bridge circuits; Capacitance; Capacitors; Electromagnetic fields; Equations; Rectifiers; Reluctance machines; Reluctance motors; Torque; Voltage;
Journal_Title :
Industrial Electronics, IEEE Transactions on
