Some results on the autonomous trajectory generation and adaptive control of industrial robots. (English) Zbl 0762.93063
Summary: Part I of this paper presents a study of an autonomous trajectory generation system (ATGS) which is useful for industrial robots carrying out mechanical operations. It is a very simple job with such an ATGS to generate planar curved trajectories \(f(x,y)=0\), an attractive factor in such applications. Two alternative variations of the ATGS are presented which possess particular characteristics. Part II deals with the trajectory control problem and uses the ATGS as a first stage of a model reference adaptive control loop of a robot. The theoretical results are illustrated by simulation examples worked out using the software packages developed for this purpose.
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
References:
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