Control Issues of the Delft Intelligent Assembly Cell with Emphasis on Geometrical Trajectory Planning
The aim of this paper is to present control issues of the Delft Intelligent Assembly Cell (DIAC) with emphasis on the planning geometrical trajectories with the aid of hermite splines. DIAC has two simultaneous operating robots each with its own working area as well as a shared working area with overlapping workspaces. The control issues of DIAC are presented and a description, goals and means of DIAC in general will be briefly discussed. Motion control of DIAC is divided in two parts: Coarse control and Fine motion control. The coarse control part is concerned with collision free simultaneous movements of the two robots over larger distances while the fine motion part is concerned with movements under contact restraints which appear during assembly operations of fitting parts together.
KeywordsWeight Vector Joint Space Geometrical Constraint Support Point Standard Function
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