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Some results on the autonomous trajectory generation and adaptive control of industrial robots

Stavrakakis Georgios, B .Kalobatsos, Tzafestas, S. G, Anastasios Zagorianos

Απλή Εγγραφή

URIhttp://purl.tuc.gr/dl/dias/E18E7CD6-5092-4C0F-9FEB-01030AFE9C01-
Αναγνωριστικόhttps://doi.org/10.1016/0016-0032(92)90091-T-
Γλώσσαen-
Μέγεθος15 pagesen
ΤίτλοςSome results on the autonomous trajectory generation and adaptive control of industrial robotsen
ΔημιουργόςStavrakakis Georgiosen
ΔημιουργόςΣταυρακακης Γεωργιοςel
ΔημιουργόςB .Kalobatsosen
ΔημιουργόςTzafestas, S. Gen
ΔημιουργόςAnastasios Zagorianos en
ΠερίληψηPart I of this paper presents a study of an autonomous trajectory generation system (ATGS) which is useful for industrial robots carrying out mechanical operations. It is a very simple job with such an ATGS to generate planar curved trajectories f(x, y) = 0, an attractive factor in such applications. Two alternative variations of the ATGS are presented which possess particular characteristics. Part II deals with the trajectory control problem and uses the ATGS as a first stage of a model reference adaptive control loop of a robot. The theoretical results are illustrated by simulation examples worked out using the software packages developed for this purpose. en
ΤύποςPeer-Reviewed Journal Publicationen
ΤύποςΔημοσίευση σε Περιοδικό με Κριτέςel
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by/4.0/en
Ημερομηνία2015-10-14-
Ημερομηνία Δημοσίευσης1992-
Θεματική ΚατηγορίαRobot programmingen
Θεματική Κατηγορίαrobots programmingen
Θεματική Κατηγορίαrobot programmingen
Βιβλιογραφική ΑναφοράS. G. Tzafestas ,B. Kalobatsos ,G.Stavrakakis , A. Zagorianos ," Some results on the autonomous trajectory generation and adaptive control of industrial robots," J. of the Franklin Insti.,vol. 329,no.1 ,pp. 1-14,1992. doi: 10.1016/0016-0032(92)90091-Ten

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