Motion control of industrial robots with closed loop trajectories

This paper is concerned with minimising path errors due to trajectory design without dynamic consideration of the arm movement and the performance of the actuators. A Controller is proposed which takes into account the integral dynamics of the "manipulator system". The scheme works by introducing the trajectory generator in to a task space feedback control loop. The trajectory is adapted on-line to make actuator demands which can be physically achieved (if such a trajectory exist), while constraining the tool to the required path.