Title :
Comparison of different methods of trajectory calculation for an industrial robot
Author :
Kim, K.H. ; Kern, A.
Author_Institution :
Inst. of Power Electron. & Electr. Drives, Siegen Univ., Germany
Abstract :
A fast robot position control scheme with a sensor has been developed, which is completely based on a transputer network. This approach was made by interfacing each transputer directly to its associated drive. Different methods of trajectory calculation for a robot are compared. The rise of the acceleration follows a sine-square function, sinusoidal function, a block function and exponential function. The robot control system can be operated under Microsoft Windows 3.0 or higher versions
Keywords :
acceleration; digital control; electric sensing devices; industrial robots; position control; suboptimal control; transputer systems; transputers; Microsoft Windows; acceleration rise; block function; exponential function; industrial robot; position control scheme; robot control system; sensor; sine-square function; sinusoidal function; trajectory calculation; transputer; Acceleration; Electronics industry; Industrial control; Power electronics; Power system modeling; Robot control; Robot kinematics; Robot sensing systems; Service robots; Torque;
Conference_Titel :
Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on
Print_ISBN :
0-7803-2423-4
DOI :
10.1109/PEDS.1995.404880
