Trajectory generation and control of a five-bar-link parallel direct-drive robot

Y. Konishi, T. Aoyama, I. Inasaki

Research output: Contribution to journalArticlepeer-review


This paper describes a dyanamic learning control method for a five-bar-link parallel direct-drive robot. A new method to generate a complex continuous trajectory in Cartesian coordinates is presented. The trajectory is expressed as a composition of a segment of a parametric free-form space curve. Hosaka's form of the Bezier curve of degree 3, is used in this study. The availability of robot control based on this trajectory is proven through computer simulation.

Original languageEnglish
Pages (from-to)395-402
Number of pages8
JournalRobotics and Computer Integrated Manufacturing
Issue number3-4
Publication statusPublished - 1988

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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