Title :
Contribution to Cartesian control of robots
Author :
Borovac, Branislav ; Stokic, Dragan ; Vukobratovic, Marko
Author_Institution :
Fac. of Tech. Sci., Novi Sad. Univ.
Abstract :
The dynamic Cartesian control scheme considered is based on the resolved velocity method and includes a complete dynamic model of the system. A method for reducing the deviation of the robot end-effector from the nominal trajectory is suggested. A numerical example is presented, and the effects of uncertainties of the mechanism parameters on the accuracy of tracking a prescribed trajectory are studied by computer simulation
Keywords :
control system analysis; position control; robots; dynamic Cartesian control; end-effector; position control; tracking; trajectory; Automatic control; Motion control; Orbital robotics; Robot control; Robotics and automation; Sampling methods; Signal resolution; Trajectory; Uncertainty; Velocity control;
Conference_Titel :
Computer Integrated Manufacturing, 1990., Proceedings of Rensselaer's Second International Conference on
Conference_Location :
Troy, NY
Print_ISBN :
0-8186-1966-X
DOI :
10.1109/CIM.1990.128137
