Path control of a robot arm using the linearized constraint control method

Abstract

In present manufacturing systems path control of robots is performed by the teaching/playback method. But this method is not feasible once the job specification of the robot is altered, since the control is based on repeated trial and error to make the motion satisfy a specific performance. For this problem, there are many approaches to establish the off-line teaching method. In this paper the authors propose path control of robots based on linearized constraint control, which has been brought up by the authors in the past. A simulation confirms that the method produces a good performance and that it can be regarded directly applicable to production robot systems in today's industry.