Extended kinematic path control of robot arms

Abstract

SUMMARY Path planning a robot arm motion essentially requires that the constraints of the joint variables and the vector of the joint motion rates are taken into account. In order to satisfy the constraints of the joint variables a sliding mode is being employed together with the developed kinematic path control method. The extended form of the kinematic path control method, here proposed, treats simultaneously the constraints of the joint variables and the vector of joint motion rates in path planning a robot arm motion.