A Method for Contour Control of Industrial Articulated Robot Arms by Using Master-Slave Synchronous Positioning Based on Nonlinear Separation Model

摘要

Accurate contour control performance is required for industrial robot arms such as sealing process, laser cutting and so on. This paper describes contour control of industrial articulated robot arms by introducing master-slave synchronous positioning based on nonlinear separation model. The proposed method consists of nonlinear statics compensation of the inverse kinematics and kinematics, and master-slave synchronous positioning in the joint coordinates. The effectiveness of the proposed method was assured by simulation results and experimental results using an actual industrial robot arm.