Abstract
This paper presents new robot arm planning and control schemes compatible with sensor-based planning and control. These developments are a central component of robot arm control intelligence and significantly increase the safety and reliability of the robotic system. The schemes use event-based representation of robot arm motion in the task space, and apply time and energy optimization techniques to determine event-based trajectories for given geometric paths in the task space. A new event-based error definition and computation schemes have been introduced and combined with known nonlinear feedback control law, which linearizes and decouples the control in the task space. The new event-based planning and control schemes were experimentally implemented and tested on the 6-DOF position and orientation control of a PUMA 560 robot arm with very good results.
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© 1993 Springer-Verlag Berlin Heidelberg
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Tarn, TJ., Xi, N., Bejczy, A.K. (1993). Intelligent Motion Planning for Safe and Reliable Control of Robot Arms. In: Kaynak, O., Honderd, G., Grant, E. (eds) Intelligent Systems: Safety, Reliability and Maintainability Issues. NATO ASI Series, vol 114. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-58021-5_17
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DOI: https://doi.org/10.1007/978-3-642-58021-5_17
Publisher Name: Springer, Berlin, Heidelberg
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