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Path control of an industrial manipulator in the expected uncertainty mode of the motion law
| Authors: Stebulyanin M.M., Sinitsyn A.G. | Published: 28.08.2013 |
| Published in issue: #8(617)/2011 | |
| Category: Calculation and Design of Machinery | |
| Keywords: industrial manipulator, path control, kinematic control algorithm, tracking mode |
The article presents a new path control kinematic algorithm for industrial manipulators, designed for real-time control applications. Mathematical justification of the control equation and rules of parameters choice are given. Based on the simulation results presented in section 4, the conclusions on the algorithm' efficiency and it's application constraints have been drawn.