High Speed and High Accuracy Control of Industrial Articulated Robot Arms with Jerk Restraint by Spline Interpolated Taught Data

Abstract

In industrial robot arms, high speed and high accurate operation is required. However in case of high speed operation, it often arises high jerk, i, e., rapid change of acceleration. Jerk causes deterioration of control performance such as vibration of a tip of a robot arm. It is, therefore, important to reduce jerk during robot arm operation. In this research, spline interpolation is used to reduce jerk under torque and speed constraints. Effectiveness of the proposed method was assured by experimental results and simulation results of an actual robot arm.