Path Following Robot.

Abstract

Given a desired path to be followed by a Robot, a set of commands must be given to the Robot joint servos so that the Robot Tip, or Endpoint, can follow that path. These commands must be synchronized in time and scaled so as to maintain accuracy in the presence of possible saturations in the servos. This Thesis develops an algorithm to generate multiple simultaneous time varying commands to Robot joint positioning servos so that the Robot Tip will follow a desired path for the Cartesian and Articulated Robots. Keywords: Theses; Manipulators; Computerized simulation; Computer programs; Models.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1987
Accession Number
ADA190960

Entities

People

  • Steven G. Goodway

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Artificial Intelligence
  • Cartesian Coordinates
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computer Simulations
  • Computers
  • Coordinate Systems
  • Electrical Engineering
  • Engineering
  • Geometric Forms
  • Lines (Geometry)
  • Mathematical Models
  • Three Dimensional
  • Two Dimensional
  • United States

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy