Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Robot Control for Straight Line Trajectory Planning

직선 궤적 계획을 위한 로보트 제어에 관한 연구

  • 길진수 (아주대학교 제어공학과) ;
  • 홍석교 (아주대학교 제어공학과)
  • Published : 1991.11.22
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Abstract

In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.

Keywords