Motion Control Algorithms for Sensor-Equipped Robots

[+] Author and Article Information
M. Shoham

Department of Mechanical Engineering, Columbia University, New York, N.Y.

Y. Koren

Department of Mechanical Engineering, The University of Michigan, Ann Arbor, Mich. 48109

J. Dyn. Sys., Meas., Control 109(4), 335-344 (Dec 01, 1987) (10 pages) doi:10.1115/1.3143863 History: Received July 01, 1985; Revised September 01, 1986; Online July 21, 2009


This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation efforts, and allows the elimination of the first joint encoder. Simplification of the algorithms can be obtained when approximations are used to solve the inverse kinematics. Three control algorithms based on approximations are presented. However, with these algorithms, convergence to the target is not always guaranteed. A Theorem which specifies the sufficient conditions required for a trajectory to converge to a target point is proved. Based on this Theorem robot parameters can be selected in the design stage of the manipulator. This is illustrated for several types of manipulators.

Copyright © 1987 by ASME
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