Continuous path planning and implementation in internet- based robot arm system

Continuous path (CP) control was researched on an Internet-based two degrees-of-freedom robot arm in this paper. First, the condition needed to realize the continuous path control was analyzed. The important parameter “the highest resultant speed” was calculated considering the existence of network-delay. Then the relation between the linear interpolation numbers and errors of the four-leaf rose curve was derived. The remote control experiment in the actual robot arm system was carried out, and the effects of the interpolation point number to control precision and drawing time were also discussed. At last, a constant compensation method was applied to eliminate the mechanical effects existed in the system and improve the precision of the path-tracking further.