A method of contour control of industrial articulated robot arm by use of synchronous positioning control with dynamic compensation of master and slave axes

摘要

Contour control of robot arms is required high speed and high accuracy performance in industries. This paper describes a method of contour control of the industrial articulated robot arm by use of the synchronous positioning control with dynamic compensation. The proposed method compensates for master and slave dynamics delay with the modified taught data method based on the second order model, and enables accurate contour control at high speed. Effectiveness of the proposed method was assured by the experiment of an actual industrial robot arm.