engleski

A New Artificial Potential for Nominal Control of Repetitive Robot Motion

In this paper a new artificial potential, suitable for nominal control of the repetitive robot motion, is proposed. Starting with this potential a normalized energy equation has been established. This equation was the source for derivation of a nominal robot velocity as the function of the initial and final positions, as well as the limited maximal nominal velocity of the robot motion. For derivation of nominal robot acceleration, as the function of the same parameters, the artificial potential relation has been employed. Both nominal velocity and acceleration equations satisfy the condition of the repetitive motion: boundary velocities are equal to zero and boundary accelerations are positive on the first side and negative on the second one. The nominal transient position relation is twice continuously differentiable resulting in the mentioned nominal velocity and acceleration equations. The obtained nominal velocity and acceleration relations are very simple for calculation and can be applied to the real time nominal control of repetitive robot motion.

Artificial Potential; Nominal Velocity and Acceleration; Nominal Repetitive Robot Control

nije evidentirano