Robot Control Synthesis in Conjunction with Moving Workpieces
Many applications of manipulators are connected with work on conveyors and it is necessary to make control synthesis of point-to-point motion in conjunction with moving workpieces. The velocity of the manipulator end-effector should be equal to the conveyor’s velocity at the operation point and this fact involves a new shooting technique for exact solution of the corresponding two-point boundary-value problems. Besides the proposed off-line control synthesis, a final adjustment of control parameters can be performed on the manipulator itself as in a self-learning adaptive procedure. The method is verified on a dynamic model of a two-degrees of freedom manipulator using D.C. motors.
KeywordsControl Synthesis Operation Point Shooting Technique Maximum Capability Loop Articulate
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