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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

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URIhttp://purl.tuc.gr/dl/dias/E18E7CD6-5092-4C0F-9FEB-01030AFE9C01-
Identifierhttps://doi.org/10.1016/0016-0032(92)90091-T-
Languageen-
Extent15 pagesen
TitleSome results on the autonomous trajectory generation and adaptive control of industrial robotsen
CreatorStavrakakis Georgiosen
CreatorΣταυρακακης Γεωργιοςel
CreatorB .Kalobatsosen
CreatorTzafestas, S. Gen
CreatorAnastasios Zagorianos en
Content SummaryPart 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
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-14-
Date of Publication1992-
SubjectRobot programmingen
Subjectrobots programmingen
Subjectrobot programmingen
Bibliographic CitationS. 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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