Abstract
In the present manufacturing systems, the path control of robots is performed by teaching/playback method. However, this method is not feasible once the content of the work of the robot is altered, since we must repeat trial and error so that the motion satisfies specified performance.
For this problem, there are many approaches to establish the off-line teaching method. We here propose a path control of robots based on linearlized constraint control which has been proposed by authors, previously. Using simulation, we confirm that this method has good performances and consider that it should be directly applicable to the present manufacturing robot systems.
