Abstract
This paper introduces a simplified method for real time continuous path control of a 5-Axis articulated industrial robot. By using a recursive algorithm, the amount of calculation for inverse coordinate transformation can be reduced to about 60% of that using conventional kinematic solution. In addition the unique solution of each joint variable is very easily obtained. This new principle could be applied to continuous path control systems of industrial robot for arc welding, spray painting and performing operations in Cartesian coordinate systems.
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Notes
M. KEPPELER(1984) Führungsgrößenerzeugung für numerisch bahngesteuerte Industrieroboter, Springer-Verlag, Berlin Heidelberg New York
R.P. Paul(1982) Robot Manipulators: Mathematics, Programming and Control, The MIT Press /3/ D.P. MYERS and D.F. G0RD0R(1982) Kinematic equations for industrial manipulators, The Industrial Robot, Volum 9 No. 4
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© 1988 Department of Mechanical Engineering University of Manchester Institute of Science and Technology
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Huan, J., Wei, J. (1988). A Simplified Method for Continuous Path Control Of 5-Axis Articulated Industrial Robot. In: Davies, B.J. (eds) Proceedings of the Twenty-Seventh International Matador Conference. Palgrave, London. https://doi.org/10.1007/978-1-349-09912-2_8
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DOI: https://doi.org/10.1007/978-1-349-09912-2_8
Publisher Name: Palgrave, London
Print ISBN: 978-1-349-09914-6
Online ISBN: 978-1-349-09912-2
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