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- W2726446442 abstract "Contouring control is a fundamental control of industrial robots for various jobs such as welding, painting and inspection. Adaptability to working objects and environmental conditions is strongly desired for the contouring control, in order to make robot operation easy and to extend application fields of robotics. In this paper, autonomous contouring control and obstacle avoidance are discussed as representative problems for the adaptive contouring control. The autonomous contouring control is a control scheme where command signals to servomechanisms for the robot arm joints are autonomously generated inside of the control loop. Basic principles of this control scheme are made clear and a design method of non-interactive control system in manipulation variable coordinate system is proposed. Effectiveness of this design method is verified by experiments. Obstacle avoidance under constraints of specified trajectory contouring by end effectors is a problem of utilization of redundant motion degrees of the robot arm. A new concept of task priority is introduced to utilize the redundant motion degrees and the obstacle avoidance is realized by considering that it is a task with the secondary priority. Control algorithm is proposed and its effectiveness is shown by a practical example." @default.
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- W2726446442 date "1982-12-01" @default.
- W2726446442 modified "2023-09-26" @default.
- W2726446442 title "On Contouring Control of Articulated Robot Arms" @default.
- W2726446442 cites W2316123761 @default.
- W2726446442 doi "https://doi.org/10.1016/s1474-6670(17)62730-7" @default.
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