An Approach to Absolute Position Control based on Object Coordinate

Keisuke Nakano, Toshiyuki Murakami

研究成果: Article査読


This paper describes an accurate position control in object coordinate. In case the motion control of industrial robot placed in global coordinate is considered in object coordinate, it is preferable and convenient to decide its motion by the teaching of robot operator. However the teaching procedure requires much time and effort. Moreover, as often as relative position between robot and object is changed, the operator needs to do the teaching operation again. To improve the above issue, it is required to develop the strategy that decides the robot motion without the teaching operation. This paper proposes a control strategy that is not required the teaching operation and enables to realize the desired motion without affecting the relative position error between the robot and the target object in object coordinate defined by PSD (Position Sensitive Detector). In the proposed approach, the estimation algorithm of the kinetic transformation between global and object coordinates is introduced by using PSD output, and the error of coordinate transformation estimated by the proposed approach is compensated in global coordinate. The validity of the proposed method is shown by simulations and experiments.

ジャーナルieej transactions on industry applications
出版ステータスPublished - 2005 9月 1

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学


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