1993 Volume 5 Issue 1 Pages 139-148
In order to improve control ability of robot manipulator path control, not only design of a servo system with high quality but also trajectory planning based on the given path are very important task. Moreover, online observation of the servo system performance is necessary because output of the servo system might deviate from the desired path because of initial error and disturbance etc. In this paper, online fuzzy trajectory planning method is proposed. As, in this method, new representation method named "P representation" for the given path is utilized, the trajectory planning method is easily applied for multi-degree of freedom robot manipulator. Here, P representation means that the given path is represented by phase angle of given path with respect to each axis of work space. Online fuzzy trajectory planning and tracking control are carried out simultaneously, so tracking ability of the robot manipulator is improved compared with a case utilizing of offline trajectory planning. Finally, the effectiveness of the proposed method of online fuzzy trajectory planning is shown by experimental studies.
