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

Y. Konishi; T. Aoyama; I. Inasaki

doi:10.1016/0736-5845(88)90010-5

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

Y. Konishi, T. Aoyama, I. Inasaki

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Abstract

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 language	English
Pages (from-to)	395-402
Number of pages	8
Journal	Robotics and Computer Integrated Manufacturing
Volume	4
Issue number	3-4
DOIs	https://doi.org/10.1016/0736-5845(88)90010-5
Publication status	Published - 1988

ASJC Scopus subject areas

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

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10.1016/0736-5845(88)90010-5

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abstract = "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.",

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AU - Inasaki, I.

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AB - 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.

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ER -

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

Abstract

ASJC Scopus subject areas

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