Path following robot

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.

Department dc:contributor.department

Electrical and Computer Engineering

Year dc:date.issued

1987

Author dc:creator

• Goodway, Steven G.

Advisor dc:contributor.advisor

• Thaler, George Julius

Statement dc: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.

Language dc:language.iso

en_US

Handle dc:identifier.uri

https://hdl.handle.net/10945/22410

OAI identifier oai:identifier

oai:calhoun.nps.edu:10945/22410