Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A study on the trajectory planning using compensation of parameter for the SCARA type ROBOT

스카라형 로보트의 파라미터 보정에 의한 궤적 계획에 관한 연구

  • Choi, Yeon-Ho (Dept. of Control & Instrumentation Eng. Ajou University) ;
  • Han, Sang-Hwan (Dept. of Electronics Eng. Ajou University) ;
  • Gil, Jin-Su (Dept. of Electronics Eng. Ajou University) ;
  • Hong, Suk-Kyo (Dept. of Control & Instrumentation Eng. Ajou University)
  • 최연호 (아주대학교 제어계측공학과) ;
  • 한상완 (아주대학교 전자공학과) ;
  • 길진수 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 제어계측공학과)
  • Published : 1993.11.26
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Abstract

Robot's kinematic equation is not perfect. In this paper, a method for reducing the positioning error which comes from the imperfect robot kinematics is introduced. This method compensates the parameter of the kinematic equation using real positioning error. And the trajectories using these compensated parameterare compared with uncompensated ones.

Keywords