Trajectory modelling and teaching of robots under Cartesian path control

摘要

Abstract This paper gives an approach to the description and modelling of the most widely spread trajectories in modern technology by means of minimum number of stored base positions and orientations. The teaching process of robots under Cartesian path control is discussed and input data for the succession of action, for position, orientation and velocity of the end link (tool or gripper) is specified. An attempt to construct a classification of the different kinds of base points has been made. A real-time control method of tool motion in various coordinate systems in teaching mode is described