Implementation of Robot Joint Trajectory Control: An Applied Method

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Abstract

Accurate point-to-point (PTP) robot motion is the most essential of industrial robot applications. It requires the joint controller to control each robot joint according to the joint motion specification. This paper discusses the key concepts and technologies related to implementing programmable robot joint trajectory control systems. The developed method presents the integrated solutions on the specification, control, and interface of joint motion variables in the microprocessor-based control systems. This includes robot point-to-point (PTP) motion trajectory, joint dynamics and independent servo control, trajectory planning function and parameters, motion data representation in microcontroller, proportional-integral-derivative (PID) control, pulse-width-modulation (PWM) control interface, and DC motor drive circuit. As a result, the control principle, requirements, and relevant relationships are introduced to aid the designer to complete the design quickly without mistakes or confusion. A case study shows the application of the method and the performance of a designed single-joint trajectory control system.
Original languageEnglish
Number of pages8
Volume14
StatePublished - Aug 8 2014

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