hrvatski

A Software Package for Trajectory Planning, Modelling and Control of Articulated Robot Arms

The paper presents a software package developed for educational purposes in the field of robot control. The program contains trajectory planning, dynamic modeling and control of a three-axis planar articulated robot and an educational five-axis articulated robotic manipulator Rhino XR-3. The program involves trajectory planning method which ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. Due to the concept of modular programming, various control techniques such as a PID, robust and fuzzy, were included in the software package.

trajectory tracking, dynamic modeling, robust control, articulated robot arm

nije evidentirano