Design of cartesian trajectories and model based control for robotic manipulators

Balkan T., Kaftanoglu B.

ASME 1990 Design Technical Conferences, DETC 1990, Illinois, Amerika Birleşik Devletleri, 16 - 19 Eylül 1990, cilt.2, ss.413-416, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 2
  • Doi Numarası: 10.1115/detc1990-0095
  • Basıldığı Şehir: Illinois
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.413-416
  • Ankara Üniversitesi Adresli: Hayır

Özet

© 1990 American Society of Mechanical Engineers (ASME). All rights reserved.In this study, design and calculation of Cartesian trajectories for robotic manipulators are discussed with a model-based control system at the joint level. The synthetic generation of the continuous path is described and from a predetermined velocity profile and evaluated path length, the time frame of the motion is computed. In the definition of end-effector orientations, instead of using impractical Euler angles, a practical method suitable to industrial applications is given. The trajectory generation and control algorithms are applied to a computer model of a PUMA type manipulator following a three dimensional path. Open-loop joint variable torques are plotted for the given scenerio. Joint variable position and velocity errors are discussed when certain simplifications are performed on the control law for on-line control of manipulators.