DocumentCode
485995
Title
Structures for Sensor-Based Robot Motion Control
Author
Good, K.C. ; Sweet, L.M.
Author_Institution
Corporate Research and Development, General Electric Company, Schenectady NY 12345
fYear
1984
fDate
6-8 June 1984
Firstpage
23
Lastpage
31
Abstract
Feedback of end-effector position to robot controllers provides an effective means for compensating for manipulator path errors and variations in workpiece geometry. Most current robot controllers do not provide the facility for real-time path correction using sensor feedback; this capability will be an essential element of future robot control systems. This paper presents a comparison of two alternative control structures, as applied to realistic models of robot mechanical and microelectronic control systems.
Keywords
Computational geometry; Control systems; Error correction; Feedback; Manipulators; Motion control; Real time systems; Robot control; Robot motion; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1984
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4788349
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