Improvement of trajectory tracking for industrial robot arms by learning control with B-spline

2004 ◽  
Author(s):  
H. Ozaki ◽  
K. Hirano ◽  
M. Iwamura ◽  
Chang-Jun Lin ◽  
T. Shimogawa
Keyword(s):  
Trajectory Tracking ◽  
Industrial Robot ◽  
Learning Control ◽  
B Spline ◽  
Robot Arms

Reduction of Trajectory Tracking Error for Industrial Robot Arms by Learning Control with B-Spline

2003 ◽  
Vol 2003.56 (0) ◽  
pp. 347-348
Author(s):  
Ken HIRANO ◽  
Hiroaki OZAKI ◽  
Makoto IWAMURA ◽  
Changjun LIN ◽  
Tetsuji SHIMOGAWA
Keyword(s):  
Trajectory Tracking ◽  
Industrial Robot ◽  
Tracking Error ◽  
Learning Control ◽  
B Spline ◽  
Robot Arms

Improvement of Trajectory Tracking Accuracy for Industrial Robot Arms by B-Spline

2004 ◽  
Vol 2004.57 (0) ◽  
pp. 387-388
Author(s):  
Makoto TAKATA ◽  
Hiroaki OZAKI ◽  
Makoto IWAMURA ◽  
Chang-jun LIN ◽  
Tetsuji SIMOGAWA
Keyword(s):  
Trajectory Tracking ◽  
Industrial Robot ◽  
Tracking Accuracy ◽  
B Spline ◽  
Robot Arms

Learning Control for Task Coordinate Trajectory Tracking of a Robot Arm by B-Spline Description

2002 ◽  
Vol 2002.55 (0) ◽  
pp. 337-338
Author(s):  
Naoki HAMADA ◽  
Changjun LIN ◽  
Tetsuji SHIMOGAWA ◽  
Hiroaki OZAKI ◽  
Ken HIRANO
Keyword(s):  
Trajectory Tracking ◽  
Learning Control ◽  
Robot Arm ◽  
B Spline

Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control

2020 ◽  
Author(s):  
Michele Pierallini ◽  
Franco Angelini ◽  
Riccardo Mengacci ◽  
Alessandro Palleschi ◽  
Antonio Bicchi ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Flexible Arm

Cable-path optimization method for industrial robot arms

2022 ◽  
Vol 73 ◽  
pp. 102245
Author(s):  
Shintaro Iwamura ◽  
Yoshiki Mizukami ◽  
Takahiro Endo ◽  
Fumitoshi Matsuno
Keyword(s):  
Industrial Robot ◽  
Optimization Method ◽  
Path Optimization ◽  
Robot Arms

Analysis of Five-Degree-of-Freedom Robot Arms

1983 ◽  
Vol 105 (1) ◽  
pp. 23-27 ◽  
Author(s):  
K. Sugimoto ◽  
J. Duffy
Keyword(s):  
Arc Welding ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Robot ◽  
Degree Of Freedom ◽  
Numerical Example ◽  
Robot Arms ◽  
Special Cases ◽  
Computer Controlled ◽  
Five Axes

Many kinds of robot arms with five degrees of freedom are widely used in industry for arc welding, spray painting, assembling etc. It is necessary to be able to compute joint displacements when such devices are computer controlled. A solution to this problem is presented and the analysis is illustrated by a numerical example using the most common industrial robot with five axes. Further, special cases are discussed using screw theory.

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