Multi-Dimensional Modified Taught Data Method for Mechatoronic Servo Systems: Accurate Contour Control of Articulated Robot Arms by Considering Interference of Links

Abstract

In this paper, multi-dimensional modified taught data method was designed by considering interference of links of articulated robot arm. Effective of the proposed method was assured by simulation study and experiments of an articulated robot arms. The proposed method can bring satisfactory control performance for industrial articulated robot arms with interference of each links.