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- W2012024335 abstract "Automation science, in the field of manufacturing, has been fundamentally altered by the development of robotic devices. As a result of the continuing improvement of the capabilities of these devices, application to complex manufacturing tasks is increasingly possible. An important task in manufacturing applications of robotic devices is the task of controlled motion along a fixed path in space. Control of the orientation of the tool with respect to the work piece surface during continuous path operation is a concomitant concern. Information describing a tool path in space and the tool orientation takes the form of the coordinated velocities of the various axes of the device. This tool path description is used to generate servo commands with the assistance of a continuous path controller, which takes the cartesian definition of the curve and interpolates a version in robot coordinates. Deviation from the ideal tool path reduces the quality of the resulting work. A comparison between the original cartesian values of the tool path with the state of the robot sensors creates a difference which may be utilized in a control loop to correct the servo position values in robot coordinates. This modification of controller function is quite effective in enhancing the precision of continuous path operation, and may be affected in software without additional instrumentation on the robot. This analysis of motion and coordinate transformation equations of robots with various linkage configurations forms the basis for further development of path controlled robots and the process of their regulation." @default.
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- W2012024335 date "1984-01-01" @default.
- W2012024335 modified "2023-10-02" @default.
- W2012024335 title "Improvement of the dynamic accuracy of continuous control paths" @default.
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- W2012024335 doi "https://doi.org/10.1016/0736-5845(84)90082-6" @default.
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