Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1991.11a
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- Pages.405-408
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- 1991
A Study on the Robot Control for Straight Line Trajectory Planning
직선 궤적 계획을 위한 로보트 제어에 관한 연구
- Gil, Jin-Su (DEPT. OF CONTROL ENG. AJOU UNIV.) ;
- Hong, Suk-Kyo (DEPT. OF CONTROL ENG. AJOU UNIV.)
- Published : 1991.11.22
Abstract
In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.
Keywords