Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1996.07b
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- Pages.1234-1236
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- 1996
A study of Robot Manipulator's Coordinating Control
로보트 매니퓰레이터의 좌표제어에 관한 연구
- Kwon, Hyuk-Jin (Dept. of Electrical Engineering, Kon-Kuk Univ.) ;
- Moon, Dong-Wook (Dept. of Electrical Engineering, Kon-Kuk Univ.) ;
- Suh, Jae-Kun (Dept. of Electrical Engineering, Kon-Kuk Univ.) ;
- Nam, Moon-Hyon (Dept. of Electrical Engineering, Kon-Kuk Univ.)
- Published : 1996.07.22
Abstract
In this paper, the trajectory needed to be tracked by the manipulator was defined in a new plot differently from conventional methods. And the trajectory provides Solution directly related to coordinates of output variables from the plant. So, it overcomes nonlinearity between joint and Cartesian coordinates in movement mode and it makes use of inverse Kinematics unnecessary, which was obstacle for real-time control. The 2-axis SCARA robot was modelled and simulation was performed to validate in this paper. And it proved this has better performance in rapidity and decrease of position-error, compared to the conventional FLCs.
Keywords