Design of cartesian trajectories and model based control for robotic manipulators

Balkan T., Kaftanoglu B.

ASME 1990 Design Technical Conferences, DETC 1990, Illinois, United States Of America, 16 - 19 September 1990, vol.2, pp.413-416, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 2
  • Doi Number: 10.1115/detc1990-0095
  • City: Illinois
  • Country: United States Of America
  • Page Numbers: pp.413-416
  • Ankara University Affiliated: No

Abstract

© 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.