Analysis and Synthesis of Sensor Based 3D Autonomous Trajectory Control System of Robot Manipulators

摘要

In this paper, we discuss three dimensional autonomous trajectory control (3D-ATC) of robot maniaulators based on sensory feedback. The 3D-ATC is effective to automate, for examples, welding, painting and measuring unknown shapes. However, the complete 3D-ATC has not yet been made practicable, because multivariable proximity sensors which measure full information between an endeffector and a desired trajectory have not been developed so far and the structure of the 3D-ATC system has not been analyzed sufficiently.The 3D-ATC system is formulated as a control system in which only the relative position at present moment between an end-effector and a desired trajectory on an object is available for feedback information. And a controller for the 3D-ATC system is synthesized. Simulation is carried out to evaluate its effectiveness.