A Method for Contour Control of Industrial Multi Link Robot Arm using Synchronous Position of Mutual Axes

Abstract

A method for synchronous position control of mechatronic servo system of multiple axes was required to attain a high accuracy performance of contour control in sealing process, laser cutting and so on. Accurate contour control method for multi link robot arm was proposed by using synchronous position of mutual axes. The proposed method was evaluated by experiment of actual multi link robot arm and its simulation study under disturbed torque circumstance, and then showed satisfactory performance.