Affordable Access

Publisher Website

Some results on the autonomous trajectory generation and adaptive control of industrial robots

Authors
Journal
Journal of the Franklin Institute
0016-0032
Publisher
Elsevier
Publication Date
Volume
329
Issue
1
Identifiers
DOI: 10.1016/0016-0032(92)90091-t

Abstract

Abstract Part I of this paper presents a study of an autonomous trajectory generation system (ATGS) which is useful for industrial robots carrying out mechanical operations. It is a very simple job with such an ATGS to generate planar curved trajectories f(x, y) = 0, an attractive factor in such applications. Two alternative variations of the ATGS are presented which possess particular characteristics. Part II deals with the trajectory control problem and uses the ATGS as a first stage of a model reference adaptive control loop of a robot. The theoretical results are illustrated by simulation examples worked out using the software packages developed for this purpose.

There are no comments yet on this publication. Be the first to share your thoughts.