Comparison of different methods of trajectory calculation for an industrial robot

Abstract

A fast robot position control scheme with a sensor has been developed, which is completely based on a transputer network. This approach was made by interfacing each transputer directly to its associated drive. Different methods of trajectory calculation for a robot are compared. The rise of the acceleration follows a sine-square function, sinusoidal function, a block function and exponential function. The robot control system can be operated under Microsoft Windows 3.0 or higher versions.<>