Path following robot

Authors
Goodway, Steven G.
Subjects
Robot
Robotics
Robot motion
Path following
Advisors
Thaler, George Julius
Date of Issue
1987-12
Date
December 1987
Publisher
Language
en_US
Abstract
Given a desired path to be followed by a Robot, a set of commands must be given to the Robot joint servos so that the Robot Tip, or Endpoint, can follow that path. These commands must be synchronized in time and scaled so as to maintain accuracy in the presence of possible saturations in the servos. This Thesis develops an algorithm to generate multiple simultaneous time varying commands to Robot joint positioning servos so that the Robot Tip will follow a desired path for the Cartesian and Articulated Robots.
Type
Thesis
Description
URI
https://hdl.handle.net/10945/22410
Series/Report No
Department
Electrical and Computer Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
328 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Collections
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