Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1995.07b
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- Pages.843-845
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- 1995
A Study on the Path Constraint Error Reducing Trajectory Planning
Path Constraint한 궤적 계획법의 위치 오차 감소에 관한 연구
- Hwang, Seung-Jae (Dept. of Electrical Eng., Myongji Univ.) ;
- Park, Se-Woong (Dept. of Electrical Eng., Myongji Univ.) ;
- Kim, Dong-Jun (Dept. of Electrical Eng., Myongji Univ.) ;
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Kim, Kab-Il
(Dept. of Electrical Eng., Myongji Univ.) ;
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Kim, Dae-Won
(Dept. of Control and Instrumentation Eng. Myongji Univ.)
- 황승재 (명지대학교 전기공학과) ;
- 박세웅 (명지대학교 전기공학과) ;
- 김동준 (명지대학교 전기공학과) ;
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김갑일
(명지대학교 전기공학과) ;
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김대원
(명지대학교 제어계측 공학과)
- Published : 1995.07.20
Abstract
There are a variety of trajectory and control algorithms available for robot trajectory tracking. Before using the enhanced trajectory and control algorithms to reduce the tracking error, we introduce the new method which reduces the tracking error by clipping the joint velocity. A lot of robot trajectory tracking methods are proposed to enhance the robot tracking, but irregular tracking errors are always accompanied. Up to now, these irregular tracking errors are gradually but uniformly reduced by introducing more complicated control algorithms. It is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance. By heuristic method, big tracking errors in these irregular ones are assumed mostly due to the fast moving of joint with respect to the same tracking and control method. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.
Keywords