The Paton Welding Journal, 2008, №05

2008 №05 (04)

2008 №05 (06)

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The Paton Welding Journal, 2008, #5, 22-24 pages

Correction of a manipulation robot motion path taking into account additional measurements

G.A. Tsybulkin

E.O. Paton Electric Welding Institute of the NASU. 11 Kazymyr Malevych Str., 03150, Kyiv, Ukraine.

Abstract
The paper deals with issues associated with ensuring the required accuracy of robot motion along paths, the spatial position of which is not known exactly beforehand. The law of corrective control has been formulated, which is based on utilization of additional measurements during the motion, and which guarantees the preset movement accuracy. Modeling of the dynamics of a system realizing this law has been performed.
Keywords: robotic arc welding, welded joints, corrective control, manipulation robot, motion path

References

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Suggested Citation

G.A. Tsybulkin (2008) Correction of a manipulation robot motion path taking into account additional measurements. The Paton Welding J., 05, 22-24.

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