Speed control of articulated robots

Abstract

Returning to:

$$ \underline X (R_0 ) = \underline F (\underline \theta - \underline \theta _0 ) $$

it should be noted that knowing the values of the articulated variables (Ө) in a configuration with an origin of Ө¯_O, a monotonic relationship exists between Ө¯, Ө¯_O and the parameters. This makes it possible to define the coordinate axes of the end effector [the parameters being gathered in a vector (X¯) of which six components are independent] in a coordinate reference set R₀ (related to the stationary base of the robot) and the values of Ө¯ – Ө¯_O.