Trajectory generation and control of a five-bar-link parallel direct-drive robot

Y. Konishi, Tojiro Aoyama, I. Inasaki

Research output: Contribution to journalArticle

Abstract

This paper describes a dyanamic learning control method for a five-bar-link parallel direct-drive robot. A new method to generate a complex continuous trajectory in Cartesian coordinates is presented. The trajectory is expressed as a composition of a segment of a parametric free-form space curve. Hosaka's form of the Bezier curve of degree 3, is used in this study. The availability of robot control based on this trajectory is proven through computer simulation.

Original languageEnglish
Pages (from-to)395-402
Number of pages8
JournalRobotics and Computer Integrated Manufacturing
Volume4
Issue number3-4
DOIs
Publication statusPublished - 1988

Fingerprint

Trajectory Generation
Robot
Trajectories
Robots
Trajectory
Learning Control
Bézier Curves
Space Curve
Robot Control
Cartesian
Computer Simulation
Availability
Computer simulation
Chemical analysis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Trajectory generation and control of a five-bar-link parallel direct-drive robot. / Konishi, Y.; Aoyama, Tojiro; Inasaki, I.

In: Robotics and Computer Integrated Manufacturing, Vol. 4, No. 3-4, 1988, p. 395-402.

Research output: Contribution to journalArticle

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