Differential Relationships with Applications to Robot Inverse Joint Solution and Motion Correction
The general concept of differential relationships is introduced. PUMA 560/600 robot was chosen for study from which the inverse joint solution is presented and the joint variables due to small change in pose (position and orientation) are solved by directly differentiating the inverse joint solution in order to avoid the complexity and difficulty of inverting a Jacobian matrix. In this paper, it is to investigate what change can be considered as differential change in terms of desired accuracy. By specifying a small positional change at a robot end-effector, the overall positional error and the error of each joint movement resulting from the use of differential concept are presented. An algorithm for motion correction during insertion is developed and the differential concept is employed to this algorithm.
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