机器人系列PathControl in .pptVIP

Path Control in Robotics ME 4135 Lecture series 8 Richard R. Lindeke, Ph. D. Motion Types of Interest Point – to – Point Motion: All Axes start and end simultaneously All Geometry is computed for targets and relevant Joint changes which are then forced to be followed during program execution Path or Trajectory Controller Motion Here the motion is performed through a time sequence of intermediate configurations computed ahead of time (like above but without stop-start operation) or in real time Paths are “Space Curves” for the n-Frame to follow This motion is a continuous scheme to move the TCP