With the help of a reverse control strategy applicable with 'SCARA' robots of horizontal work plane, an exact trajectory reproduction can be achieved, which is not sensitive to the load actually carried by the robot, but capable of perceiving it at the same time. The main feature of the strategy is its adaptability to the equations of motion of classical mechanics - regarded as the fundamental core of the problem. Due to this adaptability, very simple considerations become useable for the almost qualitative description of the operation of closed loops characteristic for the reverse control, even despite the strong, nonlinear connections of the mechanical equations of motion.
|Translated title of the contribution||Adaptive reverse control of SCARA type robots based on their track following features|
|Number of pages||8|
|Journal||Meres es Automatika|
|Publication status||Published - Dec 1 1988|
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