scholarly journals Motion Control of Industrial Robots in Operational Space: Analysis and Experiments with the PA10 Arm

10.5772/9666 ◽  
2010 ◽  
Author(s):  
Ricardo Campa ◽  
Cesar Ramirez ◽  
Karla Camarillo ◽  
Victor Santibanez ◽  
Israel Soto
Keyword(s):  
Motion Control ◽  
Industrial Robots ◽  
Space Analysis ◽  
Operational Space

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach

The Research on the Motion Control of Industrial Robots Based on LabVIEW

2013 ◽  
Vol 433-435 ◽  
pp. 117-120
Author(s):  
Fei Tao ◽  
Ping An Mu ◽  
Shu Guang Dai
Keyword(s):  
Motion Control ◽  
Virtual Instrument ◽  
Data Exchange ◽  
Communication Protocol ◽  
Industrial Robots ◽  
Labview Software ◽  
Software Program ◽  
Instrument Technology ◽  
Labview Program

This paper puts forward a method to control the industrial robots based on the NI Corporations LabVIEW virtual instrument technology. By designing the communication protocol between the LabVIEW software program on PC and industrial robots, the LabVIEW program can take the control of industrial robots by using RS232 serial ports, including the operation instructions' transmission, the feedback of the robots' running, and the data exchange between the two. The result shows that can effectively realize the motion control of industrial robots based on LabVIEW.

Motion Control of Manipulators with Closed-Form Inverse Solutions Near Wrist Singularities

1989 ◽  
Vol 111 (1) ◽  
pp. 87-93 ◽  
Author(s):  
Jim Z. Lai ◽  
C. H. Menq
Keyword(s):  
Iterative Method ◽  
Closed Form ◽  
Motion Control ◽  
Iterative Scheme ◽  
Industrial Robots ◽  
Orientation Error ◽  
Acceptable Solution ◽  
Closed Form Solutions ◽  
Position Accuracy ◽  
Inverse Solutions

Two algorithms, the degenerate axis and iterative methods, are developed for the motion control of manipulators with closed-form solutions in the neighborhood of singularities. These two methods theoretically guarantee a robot’s position accuracy. The degenerate axis method may not work well when a robot’s orientation and location increments become finite. If a robot is moving with slow speed or the interpolation time is in the order of microsecond, the location and orientation increments are small. In this case, the degenerate axis method is favored for it has less computation than that of the iterative method. Two examples are given to illustrate the concepts presented in this paper. Although it cannot be proved that the iterative scheme gives the required position accuracy and minimizes the orientation error, the results seem to show that this scheme converges to an acceptable solution. It is believed that the iterative method is the first of its kind to solve the singular motion control problem by using a robot’s closed-form inverse kinematics. Simple computation for the iterative scheme makes it possible to be implemented in many industrial robots.

scholarly journals Research on the Trajectory Planning and Control Technology of Industrial Robots Guided by Computer Visualization

2021 ◽  
Vol 2074 (1) ◽  
pp. 012040
Author(s):  
Suling Tian ◽  
Mingying Chen ◽  
Yuanyuan Li
Keyword(s):  
Motion Control ◽  
Structure Design ◽  
Industrial Robots ◽  
Control Technology ◽  
Robot System ◽  
Planning And Control ◽  
Computer Visualization ◽  
Cartesian Coordinate ◽  
And Control ◽  
Trajectory Planning And Control

Abstract With the popularization of computers, the development of all walks of life has become more rapid. This article mainly analyzes the mechanical structure design of the Cartesian coordinate robot system, it also studies the motion control.

Operational space analysis of human muscular effort in robot assisted reaching tasks

2020 ◽  
Vol 125 ◽  
pp. 103429 ◽  
Author(s):  
Emel Demircan ◽  
Stephanie Yung ◽  
Mathew Choi ◽  
Jon Baschshi ◽  
Brian Nguyen ◽  
...  
Keyword(s):  
Robot Assisted ◽  
Space Analysis ◽  
Operational Space ◽  
Reaching Tasks ◽  
Muscular Effort

Hybrid Force-Motion Control for One-Legged Robot in Operational Space

2021 ◽  
Author(s):  
Omer Kemal Adak ◽  
Beste Bahceci ◽  
Kemalettin Erbatur
Keyword(s):  
Motion Control ◽  
Legged Robot ◽  
Operational Space
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