Tracking control system of multijoint robot

Details Tracking control system of multijoint robot Tracking control system of multijoint robot

1983-12-09

1985-07-16

Shoop, William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318567, G05B 1942

Patent

active

045299218

ABSTRACT:
In a tracking control system of a multijoint robot, a change in posture of an end of a tool attached to a hand of a robot arm is defined as rotation about a rotational main axis of the tool. An arc traced by an imaginary point which is in a plane perpendicular to the rotational main axis and which is spaced apart by a predetermined distance from the rotational main axis is synthesized with a straight line traced by the imaginary point upon translational motion of the end of the tool, thereby producing a helical trajectory. A velocity pattern is given to this helical trajectory, and a translational velocity pattern and a rotational velocity pattern are derived as components from the velocity pattern given to the helical trajectory. Servo control is smoothly performed to control joint variables so as to provide a target position/posture tracking output which prevents abrupt changes.

REFERENCES:
patent: 4163183 (1979-07-01), Engelberger et al.

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