Dynamic Characteristics of Industrial Robots, Using Segmented Trajectories.

Document Type : Research Studies

Author

Control & Computers Engineering Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.

Abstract

Robotic systems represent one of the most advanced industrial applications. Such robotic systems have a severe oscillatory behavior, thus the conventional control techniques are not suitable to deal with it. In the present paper, the dynamic dynamic behavior of robotic systems is studied and a dynamic model for such systems is obtained. A suitable trajectory for each link is pre-determined. The technique introduced proposes a segmented trajectory rather than a continuous one. A comparative study between the behaviour of the system with the proposed technique and that proposed in [7] is introduced.
The above mentioned algorithm assumed that the chosen path is continous and this can be used in some tasks, required to be carried-out by the robot. But in other tasks, it is sometimes required that the robot must move a short distance from a point to another neighbouring point i.e. , the path is not continuous but, it is a segmented path. Such pathes are required in different tasks, such pathes are weiding, paint spraying, cxarrying a tray of drink……..etc.

Main Subjects

MEJ- Mansoura Engineering Journal
Volume 16, Issue 2
December 1991
Pages 67-79

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