Trajectory planning, optimization and control for industrial robots

摘要

Following a defined geometric trajectory with an industrial robot requires on-line path generation, coordinate transformation and a suitable closed-loop control. In order to find advanced methods for the process of trajectory planning, optimization, generation and control, a complete robot control system was developed using powerful modern microprocessors. This paper describes the concept and the present state of the project presenting measurement results, obtained with a commercial six-axis robot.