Accurate Contour Control of Industrial Articulated Robots by Modified Taught Data Method Based on Nonlinear Separation

Abstract

High accuracy performance of contour control is required for industrial robot arms such as sealing process, laser cutting and so on. This paper describes contour control of articulated robot arms by introducing nonlinear separation control concept. The proposed method consists of nonlinear static compensation of the inverse kinematics and kinematics, and linear dynamics compensation by using the modified taught data method in the joint coordinates. The effectiveness of the proposed method was assured by simulation results and experimental results using an actual industrial robot arm.