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Extended kinematic path control of robot arms

Published online by Cambridge University Press:  09 March 2009

Evgeny Krustev and
Ljubomir Lilov
Evgeny Krustev
Affiliation:
Institute of Mechanics and Biomechanics, ul. “Acad. Bonchev”, bl. 8, 1113 Sofia (Bulgaria)
Ljubomir Lilov
Affiliation:
Institute of Mechanics and Biomechanics, ul. “Acad. Bonchev”, bl. 8, 1113 Sofia (Bulgaria)
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Summary

Path planning a robot arm motion essentially requires that the constraints of the joint variables and the vector of the joint motion rates are taken into account. In order to satisfy the constraints of the joint variables a sliding mode is being employed together with the developed kinematic path control method. The extended form of the kinematic path control method, here proposed, treats simultaneously the constraints of the joint variables and the vector of joint motion rates in path planning a robot arm motion.

Information

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987, pp. 45 - 53
Copyright
Copyright © Cambridge University Press 1987

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References

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