Minimum Time Positioning Control of Industrial Articulated Robot Arm Considering Locus Error under Torque Constraints

A positioning control of the industrial robot arms requires a performance of a high speed and a high accuracy. However, torque saturation existing in the industrial robot arms often causes deterioration of the positioning control performance. A method of trajectory generation and modifying the taught data in the joint coordinates was developed for the high speed positioning control of articulated robot arms by taking into account of the torque constraint. The effectiveness of the proposed method was assured by simulation studies and experimental results of an actual articulated robot arm. This method can be applicable not only to two axes robot arms, but also to the general articulated robot arms. As the proposed method does not require any change of the hardware of the robot arms, implementation of the proposed positioning control for the existing industrial articulated robot arms is easy and effective.